Dynamic Modeling of Robotic Fish With a Base-Actuated Flexible Tail

Abstract

In this paper, we develop a new dynamic model for a robotic fish propelled by a flexible tail actuated at the base. The tail is modeled by multiple rigid segments connected in series through rotational springs and dampers, and the hydrodynamic force on each seg ment is evaluated using Lighthill's large-amplitude elongated-body theory. For compari son, we also construct a model using linear beam theory to capture the beam dynamics. To assess the accuracy of the models, we conducted experiments with a free-swimming robotic fish. The results show that the two models have almost identical predictions when the tail undergoes small deformation, but only the proposed multisegment model matches the experimental measurement closely for all tail motions, demonstrating its promise in the optimization and control of tail-actuated robotic fish.

Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail

“…First, a body dynamic model developed in Refs. [30], [34], and [35] will be introduced. The model captures the motion dynamics responding to the thrust forces in the X and Y directions and the turning moment in the Z direction.…”

An Autonomous Charging System for a Robotic Fish

“…Additionally, we will examine the possibility of incorporating model-based control to enhance docking success [18,19,23,40,49]. The use of robotic fish modeling may also assist experimental design, enable detailed system calibration, and allow for extensive parametric analyses.…”

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