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Development of a Biomimetic Robotic Fish and Its Control Algorithm
IEEE Transactions on Systems, Man, and Cybernetics, 2004This paper is concerned with the design of a robotic fish and its motion control algorithms. A radio-controlled, four-link biomimetic robotic fish is developed using a flexible posterior body and an oscillating foil as a propeller. The swimming speed of the robotic fish is adjusted by modulating joint's oscillating frequency, and its orientation is ...
Shuo Wang, Min Tan, Junzhi Yu
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Control and coordination of biomimetic robotic fish
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005Investigation in biomimetic robotic fish is a multidisciplinary problem entirely involving hydrodynamics-based control and robotic technology. In this paper, grounded on an optimized kinematic propulsive model of fish that relate frequency to speed and joint angle bias to turns, a robotic fish and its motion control are designed.
Junzhi Yu 0001 +3 more
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Motion controller design for a biomimetic robotic fish
IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society, 2014This paper investigates motion control of a biomimetic robotic fish through a general internal model (GIM)-based learning approach. By virtue of the universal function approximation ability and the temporal/spatial seal-abilities of the GIM, the learning approach is able to generate the same or similar fish swimming motion patterns.
Qinyuan Ren +3 more
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Formation Control of Multiple Biomimetic Robotic Fish
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006This paper presents a new method for formation control of multiple underwater fish-like robots. Considering both geometrical and mechanical constrains of the fish-like robots and based on the leader-following approach, a curva-true coordinates is introduced to describe relative positions between different members within formations.
Jinyan Shao +2 more
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Modeling the dynamics of biomimetic underwater robot fish
2005 IEEE International Conference on Robotics and Biomimetics - ROBIO, 2005In this paper we propose the model for undulatory locomotion in the developed biomimetic underwater robot fish. The expressions for the momentum and hydrodynamic force on the swimming robot fish's body are based on large-amplitude elongated body theory and inviscid hydrodynamics, and these are coupled to rigid-body dynamics to derive the kinematic and ...
Chen Hong, Chang'an Zhu
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Development and depth control of biomimetic robotic fish
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007This paper describes the design of a biologically inspired robotic fish which is capable of three-dimensional locomotion, and presents its depth control method. The mechanical design of the pectoral fins improves both the waterproof capability and the control precision. By adjusting the rotation angles of the pectoral fins, the robotic fish can fulfill
Le Zhang +4 more
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Design and Control of a Biomimetic Fish Robot
Transactions of the Korean Society of Mechanical Engineers A, 2012This paper introduces the mechanical design, fabrication, and control of a biomimetic fish robot whose driving motions resemble a real fish's flexibility and movement. This robot uses two motors create flexible movement like that of a fish. Several schemes, such as neutral buoyancy, fast underwater swimming, and direction changes, are introduced.
Young-Jin Kim +5 more
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Shape Optimizing of Tail for Biomimetic Robot Fish
2012This paper introduces a tail optimization method for robotic fish regarding to friction force decreasing. The method is based on Computational Fluid Dynamic (CFD). Hence the hydrodynamic model is derived, its motion directions (up, down, left and right) are analyzed and some simulation studies are done.
Majid Siami, Vahid Azimirad
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Numerical simulation for biomimetic robot fish
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013), 2013The present project for developing a robot fish is aimed to make an eco-friendly robot for monitoring water pollution and quality in domestic major rivers. In line with that, the present numerical study using computational fluid dynamics (CFD) is carried out for investigating the swimming characteristics of biomimetic robot fish.
Ji Eun Lee +6 more
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Modeling and Implementation of a Biomimetic Robotic Fish
International Symposium on Power Electronics Power Electronics, Electrical Drives, Automation and Motion, 2012In this study, design and implementation of a remote-controlled, 4-joints flapping mechanism and autonomous-swimming biomimetic robotic fish are presented. The propulsive model of the robotic fish is given considering the biological fish structure. The motion control of the robotic fish is performed by using speed and position control.
Zühtü Hakan Akpolat
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