Fundamental Control for a Manta-Like Fish Robot
نویسندگان
چکیده
This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.
منابع مشابه
توسعه یک مدل سه بعدی روبات ماهی و مقایسه آزمایشگاهی نتایج
Biomimetic underwater vehicle design has attracted the attention of researchers for various reasons such as ocean investigation, marine environmental protection, exploring fish behaviors and detecting the leakage of oil pipe lines. Fish and other aquatic animals have good maneuverability and trajectory following capability. They also efficiently stabilize themselves in currents and surges leave...
متن کاملBio-inspired Underwater Robots Powered by Electroactive Polymer Artificial Muscles
Autonomous under robots are highly demanded in environmental monitoring, intelligent collection, and deep water exploration. Aquatic animals (e.g., fishes, whales, rays, etc.) are ultimate examples of superior swimmers as a result of millions of years of evolution, endowed with a variety of morphological and structural features for moving through water with speed, agility, and efficiency. Recen...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملDynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators
In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...
متن کاملSimulation and optimization of live fish locomotion in a biomimetic robot fish
This paper presents simplified hydrodynamics model for a biomimetic robot fish based on quantitative morphological and kinematic parameters of crangiform fish. The motion of four Pangasius sanitwongsei with different length and swimming speed were recorded by the digital particle image velocimetry (DPIV) and image processing methods and optimal coefficients of the motion equations and appropria...
متن کامل