Parameter Optimization of Simplified Propulsive Model for Biomimetic Robot Fish

Author

Yu, Junzhi ; Wang, Long

Author_Institution

Intelligent Control Laboratory Center for Systems and Control, Department of Mechanics and Engineering Science Peking University, Beijing 100871, P.R. China, jzyu@mech.pku.edu.cn

fYear

2005

fDate

18-22 April 2005

Firstpage

3306

Lastpage

3311

Abstract

This paper is concerned with the parameter optimization for a simplified propulsive model of biomimetic robot fish propelled by a multiple linked mechanism. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-length ratio is numerically calculated by an improved constrained cyclic variable method. The result is successfully applied to the 4-linked robot fish developed in our laboratory. The comparative experiments on forward swimming speed of the robot fish before and after parameter optimization verify the effectiveness of our method.

Keywords

Biomimetic robot fish; constrained cyclic variable method; mechanical design; parameter optimization; underwater robot; Biomimetics; Hydrodynamics; Intelligent control; Intelligent robots; Laboratories; Marine animals; Optimization methods; Propulsion; Robot kinematics; Robot sensing systems; Biomimetic robot fish; constrained cyclic variable method; mechanical design; parameter optimization; underwater robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570620

Filename

1570620