NDLI: Analysis of Velocity Control Algorithms for Biomimetic Robot Fish

Content Provider	IEEE Xplore Digital Library
Author	Shuo Wang Zhigang Zhang Haiquan Sang
Copyright Year	2004
Description	Author affiliation: Inst. of Autom., Chinese Acad. of Sci., Beijing (Shuo Wang; Zhigang Zhang; Haiquan Sang)
Abstract	As a novel unmanned underwater vehicle (UUV), biomimetic robot fish is able to carry out underwater missions, and more recent interest among scientists in describing it. In this paper, three modes for velocity control of carangiform robot fish are induced, which are velocity control based on oscillation frequency, velocity control based on oscillation amplitude, and velocity control based on the length of oscillation body. Firstly, physical and mathematical models of carangiform fish swimming are introduced. Secondly, each algorithm is described in detail. Thirdly, a prototype of carangiform robot fish and an experiment platform are introduced. Finally, these velocity control algorithms are experimented on the platform, and experiment result shows the performance of each algorithm
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	972
Ending Page	976
File Size	4857216
Page Count	5
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521917
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Velocity control Biomimetics Marine animals Robot kinematics Intelligent robots Frequency Tail Intelligent systems Content addressable storage Amplitude Robot fish
Content Type	Text
Resource Type	Article

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