Title :
Hydrodynamic optimization of a relative link lengths for a biomimetic robotic fish
Author :
Anton, Mart ; Listak, Madis
Author_Institution :
Centre of Biorobotics, Tallinn Univ. of Technol., Tallinn, Estonia
Abstract :
This paper focuses on the robotic fish body shape and mechanical design optimization problems. We show that our methodology will allow finding costs and benefits of having different number of links and the length of these links. We provide an algorithm of finding optimal lengths of links of robotic fish body. Also we discuss the benefits of having a continuous tail. Our approach is a mix of analytical and Computational Fluid Dynamics (CFD) solution. We also illustrate our research with simulation results.
Keywords :
biomimetics; computational fluid dynamics; control system synthesis; hydrodynamics; marine systems; mobile robots; optimisation; CFD; biomimetic robotic fish; computational fluid dynamics; hydrodynamic optimization; mechanical design optimization; relative link lengths; Approximation methods; Computational fluid dynamics; Joints; Marine animals; Mathematical model; Robots; Biomimetic robotic fish; mechatronics; optimization of the mechanical design; underwater robotics;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088644
