DocumentCode :
3559155
Title :
Fast Dynamics of an Eel-Like Robot—Comparisons With Navier–Stokes Simulations
Author :
Boyer, Fr?©d?©ric ; Porez, Mathieu ; Leroyer, Alban ; Visonneau, Michel
Author_Institution :
Inst. de Rech. en Commun. et Cybernetique de Nantes, Ecole des Mines de Nantes, Nantes
Volume :
24
Issue :
6
fYear :
2008
Firstpage :
1274
Lastpage :
1288
Abstract :
This paper proposes a dynamic model of the swim of elongated fish suited to the online control of biomimetic eel-like robots. The approach can be considered as an extension of the original reactive ldquolarge elongated body theoryrdquo of Lighthill to the 3-D self-propulsion to which a resistive empirical model has been added. While all the mathematical fundamentals have been detailed by Boyer . (http://www.irccyn.ec-nantes.fr/hebergement/Publications/2007/3721.pdf, 2007), this paper essentially focuses on the numerical validation and calibration of the model and the study of swimming gaits. The proposed model is coupled to an algorithm allowing us to compute the motion of the fish head and the field of internal control torque from the knowledge of the imposed internal strain fields. Based on the Newton-Euler formalism of robot dynamics, this algorithm works faster than real time. As far as precision is concerned, many tests obtained with several planar and 3-D gaits are reported and compared (in the planar case) with a Navier-Stokes solver, which, until today have been devoted to the planar swim. The comparisons obtained are very encouraging since in all the cases we tested, the differences between our simplified and reference simulations do not exceed 10%.
Keywords :
Navier-Stokes equations; marine systems; mobile robots; robot dynamics; 3D self-propulsion; Navier-stokes simulations; Newton-Euler formalism; biomimetic eel-like robots; elongated fish; resistive empirical model; robot dynamics; swimming gaits; Biorobotics; eel-like robots; swim dynamics; underwater vehicle;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
Conference_Location :
10/21/2008 12:00:00 AM
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2008.2006249
Filename :
4655619
Link To Document :
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