DocumentCode
774776
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
Volume
23
Issue
2
fYear
2007
fDate
4/1/2007 12:00:00 AM
Firstpage
382
Lastpage
386
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;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2007.892221
Filename
4154836
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