Title :
Geometric Optimization of Relative Link Lengths for Biomimetic Robotic Fish
Author :
Yu, Junzhi ; Wang, Long ; Tan, Min
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing
fDate :
4/1/2007 12:00:00 AM
Abstract :
This paper focuses on the design of fishlike underwater robots using an optimization approach to choose relative link lengths. Considering both ichthyologic characteristics and mechatronic constraints, the optimal link-length ratios are numerically calculated by an improved constrained cyclic variable method. Comparative results, before and after the optimization, demonstrate the enhanced performance
Keywords :
biomimetics; geometry; marine systems; mobile robots; optimisation; biomimetic robotic fish; cyclic variable method; fishlike underwater robots; geometric optimization; ichthyologic characteristics; mechatronic constraints; relative link lengths; Biomimetics; Design optimization; Hydrodynamics; Leak detection; Marine animals; Mechatronics; Reconnaissance; Robotics and automation; Robots; Underwater vehicles; Biomimetic robotic fish; mechatronics; optimization design; underwater robot;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2007.892221
