NDLI: Dynamic Modeling of Three-Dimensional Swimming for Biomimetic Robotic Fish

Content Provider	IEEE Xplore Digital Library
Author	Lizhong Liu Junzhi Yu Long Wang
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. & Eng. Sci., Peking Univ., Beijing (Lizhong Liu)
Abstract	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 the links, and adopt experimental result from oscillating foil for the caudal fin. So the dynamic equation of each part can be obtained, and by summing up these equations, the dynamic equation for total swimming robot can be derived. The desired propulsive characteristics including forward velocity, sway velocity, pitch velocity, three velocity of Eulerian angles of the stiff anterior body, motion trajectory as well as propulsive efficiency can then be obtained by solving ordinary differential equation. The circular motion, based on asymmetrical kinematics of flexible rear body, can be achieved by adding different deflections to the oscillatory links. Comparisons between simulation results and real experiments are then conducted and discussed. A good agreement on dynamic characteristics demonstrates the validity of the proposed model
Starting Page	3916
Ending Page	3921
File Size	6821170
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281823
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biomimetics Marine animals Intelligent robots Motion analysis Hydrodynamics Control system synthesis Electronic mail Differential equations Kinematics Steady-state circular motion biomimetic robotic fish three-dimensional dynamic model bio-propulsion
Content Type	Text
Resource Type	Article

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