Design of a free-swimming biomimetic robot fish

Author

Yu, Junzhi ; Wang, Shuo ; Tan, Min

Author_Institution

Inst. of Autom., Chinese Acad. of Sci., Beijing, China

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

95

Abstract

This paper is concerned with the design of a radio-controlled, 4-link and free-swimming biomimetic robot fish based on a simplified kinematic propulsive model. The robot fish uses a flexible posterior body and an oscillating foil as a propulsor. The speed of the fish´s swimming is adjusted by modulating joint´s deflections. A closed-loop experimental robot fish system that uses a vision-based position system to provide feedback is finally developed, and corresponding test results confirm the effectiveness of the presented scheme.

Keywords

biomimetics; closed loop systems; intelligent robots; mechatronics; mobile robots; propulsion; robot kinematics; telerobotics; underwater vehicles; closed-loop experimental robot fish system; flexible posterior body; free-swimming biomimetic robot fish; kinematic propulsive model; modulating joints deflections; oscillating foil; oscillating propulsor; radio-controlled design; vision-based position system; Automatic control; Biomimetics; Design automation; Hydrodynamics; Marine animals; Propellers; Propulsion; Robot kinematics; Robotics and automation; Tail;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225078

Filename

1225078