Abstract:Improving propulsion efficiency holds the promise of enabling the robotic fish to work for a long time with a limited battery in its small body. In this paper, for the swimming of a bionic robotic fish, we present a virtual musculoskeletal control method from the bionic model of the joint driven by agonist muscle and antagonist muscle. A closed-loop method composed of two loops is proposed as a rule of thumb for the speed control of the robotic fish. The outer loop adjusts the swimming speed using the speed de… Show more
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