Development of a Biomimetic Robotic Fish and Its Control Algorithm

Yu, Junzhi; Tan, Min; Wang, Shuo; Chen, Erkui

doi:10.1109/tsmcb.2004.831151

Cited by 389 publications

(190 citation statements)

References 22 publications

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“…By substituting the sizes of the links given in Table 1 Considering Figure 7, the amplitudes of θ 1 Figure 8.…”

Section: Resultsmentioning

confidence: 99%

“…Yu et al [1] developed a model for a four-link carangiform-like robot using the travelling wave expression. Yu and Wang used their simplified propulsive model for the optimization of the link-length-ratio of their robotic fish [9].…”

Section: Introductionmentioning

confidence: 99%

“…Yu and Wang used their simplified propulsive model for the optimization of the link-length-ratio of their robotic fish [9]. Yan et al [20] also studied the effects of parameters such as the frequency, amplitude, wavelength, phase difference and coefficient of wave amplitude envelopes on the robot's cruising speed using a travelling wave form of (1). The adoption of the trajectory approximation could be also found in [21].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot

Masoomi

Gutschmidt

Chen

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents the steps for the mathematical modelling of a fish robot with four degrees of freedom (DOF) called UC-Ika 1. The swimming motion of the robot, which is inspired by tuna fish, needs to generate an undulatory motion by its tail peduncle and caudal fin. Hence, the robot has the benefit of a tail mechanism that plays a determining role in the dynamic behaviour of the robot. Analysing this tail mechanism and the hydrodynamic forces acting upon the fish robot, the governing equations of motion of the robot are derived. Solving these dynamic equations reveals that the robot has a cruising speed of 0.29 m/s, a slight oscillation in the Y direction, and a small swing around its centre of mass. These results are validated by the experimental results of UC-Ika 1.

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“…By substituting the sizes of the links given in Table 1 Considering Figure 7, the amplitudes of θ 1 Figure 8.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot

Masoomi

Gutschmidt

Chen

et al. 2015

International Journal of Advanced Robotic Systems

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“…Several groups are very active in designing autonomous fish robots (Kato, 2000;Liu et al, 2004;Yu et al, 2004). The National Marine Research Institute (NMRI) in Japan, for instance, is working on multiple projects, including maneuvering, swimming performance and modular robotics for water; each robot is built for a particular purpose like up-down motion, high turning performance, or high speed swimming.…”

Section: Related Workmentioning

confidence: 99%

Controlling swimming and crawling in a fish robot using a central pattern generator

et al. 2007

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Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of the speed, direction, and type of locomotor behavior. In this article we address the problem of controlling the non-steady state swimming and crawling of a novel fish robot. For this, we have designed a control architecture based on a central pattern generator (CPG) implemented as a system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters.To test our controller, we designed BoxyBot, a simple fish robot with three actuated fins capable of swimming in water and crawling on firm ground. Using the CPG model, the robot is capable of performing and switching between a variety of different locomotor behaviors such as swimming forwards, swimming backwards, turning, rolling, moving upwards/downwards, and crawling. These behaviors are triggered and modulated by sensory input provided by light, water, and touch sensors. Results are presented demonstrating the agility of the robot and interesting properties of a CPG-based control approach such as stability of the rhythmic patterns due to limit cycle behavior, and the production of smooth trajectories despite abrupt changes of control parameters.The robot is currently used in a temporary 15-month long exhibition at the EPFL. We present the hardware setup that was designed for the exhibition, and the type of interactions with the control system that allow visitors to influence the behavior of the robot. The exhibition is useful to test the robustness of the robot for long term use, and to demonstrate the suitability of the CPG-based approach for interactive control with a human in the loop.

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“…Several interesting and unique types of robots have mimetics for the recent decades [1,2]. Particularly, a fishlike underwater robot is one of these categories.…”

Section: Introduction 1)mentioning

confidence: 99%

Implementation of Underwater Entertainment Robots Based on Ubiquitous Sensor Networks

Shin¹,

Na²,

Kim³

et al. 2009

The KIPS Transactions:PartA

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We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users' demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.

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Development of a Biomimetic Robotic Fish and Its Control Algorithm

Cited by 389 publications

References 22 publications

The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot

The Kinematics and Dynamics of Undulatory Motion of a Tuna-Mimetic Robot

Controlling swimming and crawling in a fish robot using a central pattern generator

Implementation of Underwater Entertainment Robots Based on Ubiquitous Sensor Networks

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