NDLI: Dynamic modeling of an ostraciiform robotic fish based on angle of attack theory

Content Provider	IEEE Xplore Digital Library
Author	Wei Wang Guangming Xie Hong Shi
Copyright Year	2014
Description	Author affiliation: Dept. of Math. & Phys., Beijing Inst. of Petrochem. Technol., Beijing, China (Hong Shi) \|\| Intell. Control Lab., Peking Univ., Beijing, China (Wei Wang; Guangming Xie)
Abstract	This paper focuses on the dynamic modeling of a self-propelled, multimodal ostraciiform robotic fish, whose three active joints (two pectoral fins and one caudal fin) are actuated by a Central Pattern Generator (CPG) controller. Compared with other dynamic modes for robotic fish, we introduce angle of attack (AoA) theory on the fish modeling, which can be used to further explore the relationship between swimming efficiency and AoA of robotic fish. First, by using the quasi-steady wing theory, AoA of the oscillatory fins are explicitly derived. Then, with the simplification of the robot as a multi-rigid-body mechanism, AoA-based fluid forces acting on the oscillatory fins of the robot are further approximately calculated in a three-dimensional context. Next, by importing the driving signals (generated by CPG control law) into a Lagrangian function, the differential-algebraic equations are employed to establish a hydrodynamic model for steady swimming of the ostraciiform robotic fish for the first time. Finally, comparative results between simulations and experiments for forward and turning gaits of the robot are systematically conducted to show the effectiveness of the built AoA-based dynamic model.
Starting Page	3944
Ending Page	3949
File Size	4225271
Page Count	6
File Format	PDF
ISSN	21614407
e-ISBN	9781479914845
DOI	10.1109/IJCNN.2014.6889881
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Mathematical model Drag Robot sensing systems Dynamics Turning
Content Type	Text
Resource Type	Article

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