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A framework for biomimetic robot fish's design and its realization
Yu, Junzhi1; Wang, Long1; Tan, Min2
Conference Name2005 American Control Conference, ACC
Source PublicationAmerican Control Conference, ACC
Conference DateJune 8, 2005 - June 10, 2005
Conference PlacePortland, OR, United states
AbstractThis paper is concerned with the design and motion control of a radio-controlled, multi-link and free-swimming biomimetic robot fish based on an improved kinematic propulsive model. The performance of the robot fish is determined by the fish's both morphological parameters and kinematic parameters. By ichthyologic theories of propulsion, a framework taking into consideration of both mechatronic constraints in physical realization and feasibility of control methods is presented, where multiple linked robot fish propelled by a flexible posterior body and an oscillating tail fin can be easily developed. The motion control of robot fish is decomposed into speed control, orientation control and submerging/ascending control. The speed of the swimming fish can be adjusted by changing oscillating frequency, oscillating amplitude and the length of oscillatory part, respectively, and its orientation is tuned by different joint's deflections. The up-down motion is realized by a pectoral mechanism. Our robot fish prototypes verify that the presented scheme is effective in design and implementation.
Document Type会议论文
Corresponding AuthorYu, Junzhi
Affiliation1.Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871
2.Complex Systems and Intelligent Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing 100080
Recommended Citation
GB/T 7714
Yu, Junzhi,Wang, Long,Tan, Min. A framework for biomimetic robot fish's design and its realization[C],2005.
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