NDLI: Motion control for an underwater robotic fish with two undulating long-fins

Content Provider	IEEE Xplore Digital Library
Author	Liuji Shang Shuo Wang Min Tan Xiang Dong
Copyright Year	2009
Description	Author affiliation: Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China (Liuji Shang; Shuo Wang; Min Tan; Xiang Dong)
Abstract	Motion control for one kind of underwater robotic fish is presented in this paper. Here our robotic fish prototype has two long-fins installed symmetrically on its both sides. And one long-fin is made up by springiness membrane covered on ten ray-fins. Ten servo-motors are used to control the motions of the ten ray-fins on one side. Due to the special structure of the prototype, swimming motion modes can be broken into four basic motion modes: marching mode, receding mode, rotating mode and side-swaying mode. Aiming at the four motion modes, this paper presents relevant control method separately. Our controller is based on FPGA. Through reading signal data stored in the memory of control chip, servo-motors may oscillate the ray-fins at scheduled way. Therefore, different frequency and different phase difference of adjacent ray-fins may bend the long-fin formed by membrane into relevant waveform. Because the membrane is soft and elastic, hydrodynamic forces produced by expelled water may drive fish body into swimming motions. Using different control methods, hydrodynamic force provide fish body with many motion modes, including the four basic motion modes. In addition, one motion modes switch system is designed based on Mega128. Through producing different voltage level combination, robotic fish may switch its motion mode by the transferred one in swimming. The experiments show our method for motion control is valid.
Starting Page	6478
Ending Page	6483
File Size	628111
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400073
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Robots Marine animals Switches Biomembranes Prototypes Hydrodynamics Force control Field programmable gate arrays Frequency
Content Type	Text
Resource Type	Article

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