Fundamental Study of a Fishlike Body with Two Undulating Side-Fins

Toda, Yasuyuki; Suzuki, Toshio; Uto, Sinpei; Tanaka, Nobuaki

doi:10.1007/978-4-431-53951-3_8

Cited by 29 publications

(14 citation statements)

References 5 publications

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“…The birth of RoboTuna in 1994 triggered the extensive research interests in bio-inspired swimming robots [54]. Many different fish robots have since been developed over the past 20 years [55]- [70]. Most of them obtain propulsion by simulating the major swimming modes of fish: oscillating, undulating, and flapping.…”

Section: A Bio-inspired Locomotion and Mechanismsmentioning

confidence: 99%

“…Low and Willy [58] proposed an undulating fins mechanism constructed with rigid sliders and developed several fish robots propelled by these fins [56]. Toda et al proposed a long undulating fin design with flexible fin materials and achieved flexible 3-D locomotion in a robotic squid [70]. While these bio-inspired swimming robots can be used in marine sourcing, seabed charting, surveillance, environmental assessments, sea exploring, and scientific research, etc., they could also help to test and verify the assumptions in biology and hydrodynamics.…”

Section: A Bio-inspired Locomotion and Mechanismsmentioning

confidence: 99%

See 1 more Smart Citation

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Sitti

Menciassi

Ijspeert

et al. 2013

IEEE/ASME Trans. Mechatron.

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Understanding and adapting the underlying principles of biological systems to engineering systems have the promise of enabling many new mechatronic systems that can operate in unstructured and uncertain environments robustly and efficiently. This paper first reports a brief survey of recent studies on bioinspired mechatronic systems and their biological counterparts in respects of locomotion, actuation, sensing, and control. Next, brief highlights of the 20 papers in this "Focused Section on Bio-Inspired Mechatronics" are given. Finally, current challenges and future trends of bio-inspired mechatronic systems are described.

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Section: A Bio-inspired Locomotion and Mechanismsmentioning

confidence: 99%

Section: A Bio-inspired Locomotion and Mechanismsmentioning

confidence: 99%

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Sitti

Menciassi

Ijspeert

et al. 2013

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…Several groups [4], [5], [6], [7], [8], [9] have proposed biomimetic designs of undulating fin mechanisms to achieve This [4], [5] developed an underwater vehicle with two undulating side fins. The prototype uses 17 servomotors to produce arbitrary fin motions which enable translating and rotating propulsion.…”

Section: B Rajiform Robotsmentioning

confidence: 99%

A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example

Alvarado

Chin

Larson

et al. 2010

2010 3rd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

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In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.

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“…The first robotic fish RoboTuna appeared in Massachusetts Institute of Technology in 1994 [1] , which opens the enterprise of making kinds of bionic underwater robots. And for sure, many bionic underwater robots emerged all over the world with different novel characteristics, such as Blackbass, two-joint Dolphin Robot, UPF, SPC, Fish-like Robot with two undulating side fins, NTU robotic fish with modular flexible fins [2][3][4][5][6] , and so on. Generally, these bionic underwater robots have a small volume, and can move with preferable maneuverability such as surging, yawing and heaving.…”

Section: Corresponding Authormentioning

confidence: 99%

Modeling and Control of a Bionic Bladder System Designed for Bionic Underwater Robots

Li¹,

Xu²,

Xie³

2009

IJIES

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Abstract:Bionic underwater robot is a new-type underwater robot which propelled and controlled by several bionic fins. Heaving motion is an indispensably function for most bionic underwater robots. Bionic bladder system is an apparatus which can realize both heaving and pitching control. It was inspired by biologic fish's bladder. It was composed of a cylinder, a piston, a pipe, a rolling guide, two ball screws and two servomotors. The dynamic models of the bionic bladder system for heaving and pitching motion were established and based on which a dual-velocity control system was designed. Two control channels realized decoupling by setting different control cycles, and a PID controller are designed for each control channel. Simulations with the real design parameters and different control cycles were performed. Results indicated that the bionic bladder system can get a good control performance with proper control parameters.

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Fundamental Study of a Fishlike Body with Two Undulating Side-Fins

Cited by 29 publications

References 5 publications

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example

Modeling and Control of a Bionic Bladder System Designed for Bionic Underwater Robots

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