Title :
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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225078
