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This paper deals with maneuver issues, in particular turning control of a free-swimming, multi-link biomimetic robotic fish propelled by a flexible rear body and oscillatory tail fin. Taking into account of both hydrodynamic model and engineering use, we develop a practical method to execute a circular maneuver. The turning control, based on asymmetrical kinematics and dynamics, can be achieved by...
This paper presents a three-dimensional, dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes. The designed robotic fish is composed of three parts: stiff anterior body with a pair of pectoral fins for up-and-down motion, flexible rear body, and an oscillating lunate caudal fin. We use unsteady flow theory to analyze the motion of the anterior part and...
This paper presents a real-time motion planning method for biomimetic robotic fish with kinematic constraints. Based on successfully developing a robotic fish prototype, we step further to study navigation problem of the robotic fish in dynamic water environments. Considering the inherent kinematic constraints of the robotic fish, a new control law is proposed to stabilize the robotic fish on a specified...
In this paper, we investigate motion planning for a biomimetic robotic fish which swims in underwater cluttered environment. For the collision-free motion planning problem, a widespread approach is to decouple it into two subproblems: paths generation and tracking control (or feedback regulation). However, consider the special propulsion mechanism and kinematic property of the robotic fish, it is...
This paper presents a dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes. The designed robotic fish is divided into three parts: stiff anterior body, flexible rear body, and an oscillating lunate caudal fin. We use unsteady flow theory to analyze the motion of the anterior part and the links, and adopt basic airfoil theory for the caudal fin. By summing...
This paper deals with the design and 3D motion control of a radio-controlled, multi-link and free-swimming biomimetic robot fish based on an improved kinematic propulsive model. The performance of the robot fish is determined by the fish's both morphological parameters and kinematic parameters. By ichthyologic theories of propulsion, a design framework taking into consideration of both mechatronic...
This paper describes an overall design procedure for a free-swimming, radio-controlled, multi-link biomimetic robotic dolphin mimicking dorsoventral movement. The swimming performance of the robotic dolphin is determined by its morphological parameters and kinematic parameters. The thrust is produced by the up-down-motioned fluke, and the turning is achieved by its left-right-sided body deflecting...
We develop a practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish that uses a flexible posterior body and an oscillating foil as propulsor. Because motion control of robot fish involves hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a mathematic model employing purely analytical methods. The fish's...
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