Title :
A study on the propulsive motion characteristics of 3-joint fish robot
Author :
Kim, Hyoung-Seok ; Vo, Tuong Quan ; Lee, Byung-Ryong
Author_Institution :
Team of Tech. Dev. for Intell. Vehicle, Univ. of Ulsan, Ulsan, South Korea
Abstract :
We derived a dynamic motion equation of fish robot with 3-joints to analyze the propulsive motion characteristics according to the parameters variation of input torque function. Then, the parameters of input torque function are optimized by Genetic Algorithm (GA). And a fish robot with 1.2m length, 0.18m width and 0.18m height is developed for experiments. Finally, the dynamic motion equation of fish robot is verified by comparing the responses of simulation and experimental results for the input torque functions.
Keywords :
genetic algorithms; mobile robots; motion control; torque control; 3-joint fish robot; dynamic motion equation; genetic algorithm; input torque function; propulsive motion characteristic; Dynamics; Gallium; Joints; Marine animals; Mathematical model; Robots; Torque; GA; dynamic motion equation; fish robot; optimization;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
