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The biomimetic undulating fin, RoboGnilos, is inspired by natural fish that generally swim via undulations of a long dorsal or anal fin. However, the present performance of this fin-type underwater propulsor can hardly be satisfactory in velocity, efficiency, or maneuverability, and retains a long distance to practical applications. This paper examines the dynamics of the undulating fin, and proposes...
This paper suggests and then presents a whole procedure of biomimetics with a case study starting from amiiform fish (Gymnarchus niloticus) to an undulating robotic fin. The procedure includes biological observation, kinematics modeling, mechanism design, prototype implementation, and initial experiments. To investigate undulatory median fin propulsion and its potential for applications in man-made...
The data collection and transmission system based on CAN bus is designed and realized in order to implement the real-time data collection and reliable transmission in distributed control system of undulated biomimetic propulsor. 1-wire A/D DS2450 and Serial D/A converter AD5551 are used to implement data collection and transmission. The architecture of the system is introduced from the viewpoint of...
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