Electrostatically Actuated Robotic Fish: Design and Control for High-Mobility Open-Loop Swimming

Zhang, Zu Guang; Yamashita, Norio; Gondo, M.; Yamamoto, Akio; Higuchi, Toshiro

doi:10.1109/tro.2007.913989

Cited by 43 publications

(18 citation statements)

References 20 publications

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“…(8) and (9). The moment produced by the spring and damper at the flexible passive joint is evaluated as…”

Section: A Rigid Body Dynamicsmentioning

confidence: 99%

“…The driving sources of such attention are the maneuverability, efficiency, and amazing swimming patterns of live fish [1], [2]. Modeling, development, and control of robotic fish have been an active research topic [3]- [9]. Besides providing a platform for underwater sensing, such as monitoring water quality [10], biomimetic robotic fish can also be used to interact with live fish and study their behavior [11].…”

Section: Introductionmentioning

confidence: 99%

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A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

Behbahani

Tan

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Pectoral fins are important actuation mechanisms in achieving maneuvering and propulsion for robotic fish. Existing designs predominantly adopt a rigid joint connecting the actuator to the pectoral fin, which requires differential actuation speeds in the power and recovery strokes in order to produce thrust and thus limits the overall actuation frequency. To address this problem, in this paper we propose a novel design of a flexible joint, which enables the pectoral fin to sweep back passively along the fish body in the recovery stroke, to minimize the drag, while maintaining the prescribed motion in the power stroke. A dynamic model is presented for a robotic fish propelled by pectoral fins incorporating such flexible joints, where the pectoral fin mechanism is modeled by two rigid segments connected with a pair of torsional spring and damper. This design results in a net thrust even with the same recovery and power stroke speed within each fin beat cycle, which simplifies the fin control. Experimental results on a robotic fish prototype are presented to validate the effectiveness of the proposed model, and to demonstrate the significant advantage of the proposed fin joint over the rigid joint. Furthermore, modeling analysis and experimental investigation are used to examine the influence of the joint length and stiffness on the locomotion performance.

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“…(8) and (9). The moment produced by the spring and damper at the flexible passive joint is evaluated as…”

Section: A Rigid Body Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

Behbahani

Tan

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…For example, in the area of aquatic robots, the maneuverability and efficiency of live fish [1,2] have motivated significant scien tific interest over the past two decades in developing, modeling, and controlling robotic fish [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. In addition to providing plat forms for underwater applications such as environmental monitor ing [18][19][20], these robots offer a means to study the behavior of live fish [21].…”

Section: Introductionmentioning

confidence: 99%

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

Wang

McKinley

Tan

2014

Journal of Dynamic Systems, Measurement, and Control

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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.

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“…In many biologically inspired robotic systems, locomotion is effected by periodic actuation of the robot's internal degrees of freedom, which consequently induces a global displacement of the system. This approach has been applied to systems as varied as winged robots performing flapping flight [27], fish-like swimming robots [31], [6], micro-swimmers [4], [32], snakelike robots [11], [23], [7], and legged robots [9], [10], [13]. Even wheeled locomotion can be described in this way by explicitly defining the rotation of the wheels as the internal degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

A coupled oscillators-based control architecture for locomotory gaits

Taghvaei¹,

Hutchinson²,

Mehta³

2014

53rd IEEE Conference on Decision and Control

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Abstract-This paper presents a bio-inspired central pattern generator (CPG) architecture for optimal control of locomotory gaits. The CPG circuit is realized as a coupled oscillator feedback particle filter. The collective dynamics of the filter are used to approximate a posterior distribution that is used to construct the optimal control input.The architecture is illustrated with the aid of a model problem involving locomotion of coupled planar rigid body systems, with two links. For this problem, the coupled oscillator feedback particle filter is designed and its control performance demonstrated in a simulation environment.

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Electrostatically Actuated Robotic Fish: Design and Control for High-Mobility Open-Loop Swimming

Cited by 43 publications

References 20 publications

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

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

A coupled oscillators-based control architecture for locomotory gaits

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