Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

Ay, Mustafa; Korkmaz, Deniz; Koca, Gonca Özmen; Bal, Cafer; Akpolat, Zühtü Hakan; Bingöl, Mustafa Can

doi:10.3390/electronics7070118

Cited by 24 publications

(13 citation statements)

References 33 publications

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“…In this section, a two-link carangiform biomimetic robotic fish prototype (i-RoF) which is developed by the authors (Ozmen Koca et al2017;Ay et al 2018;Ozmen Koca et al 2018) is given with mechanical, electronic and sensor structures. The developed robotic fish exhibits following characteristics: 1) three-dimensional swimming; 2) high speed performance; 3) biomimetic control based swimming ability; 4) capability of performing the determined tasks.…”

Section: Mechatronic Design Of the Robotic Fish Prototypementioning

confidence: 99%

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Korkmaz

Koca

et al. 2019

Journal of Marine Engineering & Technology

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This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic fish for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed loop sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control mechanism in order to provide robust and effective biomimetic control structure. A sensory feedback mechanism plays an important role to react external stimuli from environment.In addition, a closed loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming modes according to sensory information. In order to provide threedimensional motion abilities, the Center of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional control structure. Experimental results are obtained to prove the CPG-based closed loop sensory feedback control structure with the developed robotic fish prototype.

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Section: Mechatronic Design Of the Robotic Fish Prototypementioning

confidence: 99%

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Korkmaz

Koca

et al. 2019

Journal of Marine Engineering & Technology

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“…Abstract models differ from other structures. These models are defined by mathematical expressions of the basic oscillators and they are constructed by coupling these oscillators [20][21][22]. In this paper, bidirectional chain network model of coupled ACP oscillator is designed and constructed.…”

Section: The Constructed Cpg Networkmentioning

confidence: 99%

A Studyof Hopf and Amplitude-ControlledPhase Oscillators for Snake Robot Locomotion

Karacol

Korkmaz

Koca

et al. 2019

ijisae

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In this paper, a snake-like robot locomotion control is proposed with Center Pattern Generators (CPGs). The snake robot is designed in SolidWorks environment and composed of a head, seven-link propulsion mechanism and a tail connected to the last link. The designed model is also adapted to Matlab/SimMechanics environment in order to observe two-dimensional motion and analyze the constructed CPG networks. The CPG networks are carried out with Amplitude-Controlled Phase (ACP) and Hopf oscillators to create rhythmic, stable, oscillatory and robust locomotion patterns. Both CPG structures are constructed with bidirectional chain models. In order to analyze the locomotion of the snake-like robot, S-type forward and C-type turning motions are performed. The simulation results show that ACP oscillator with bidirectional chain network structure gives effective, smooth and robust control performance for both forward and turning motions of the snake robot. Thus, a base of more intelligent locomotion control approach with ACP oscillator is provided and some critical comparisons are performed.

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“…The body shapes of these bioinspired AUVs are akin to the animals from which their motion is inspired [4,6]. These bioinspired body shapes are integrated with sensors that help monitor their surroundings [4,7,8]. The combination of body shape, actuation and sensors allows for an effective system [4].…”

Section: Introductionmentioning

confidence: 99%

Role of Electromechanical Coupling, Locomotion Type and Damping on the Effectiveness of Fish-Like Robot Energy Harvesters

2021

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In this work, an investigation into the influence of prescribed motion on a body caudal fin aquatic unmanned vehicle (AUV) energy harvester is carried out. The undulatory–oscillation locomotion inspired by fishes actuates a composite beam representative of a spinal column with a piezoelectric patch. Two patch configurations—one at the head and tail—are considered for the AUV energy harvester, with a length that would not activate a harmonic in the system. An electromechanical model which accounts for the strain of the prescribed motion and the induced relative strain is developed. Discretizing the relative strain using Galerkin’s method requires a convergence study in which the impacts of the prescribed motion, dependent on the undulation and envelope of the motion, are investigated. The combination of prescribed motion and structural terms leads to a coupling that requires multiple investigations. The removal of the undulation of the system produces a more consistent response. The performances of the two different patch configurations undergoing different prescribed motions are studied in terms of coupled damping and frequency effects. An uncoupled Gauss law-based model is adopted to compare the performance of our approach and that of the coupled electromechanical model harvester. It is demonstrated that there is a complex interaction of the phases of the prescribed and relative motions of the structure which can lead to the development or destruction of the response of the total motion or voltage for the system. The results show that the structural damping and type of locomotion are the most influential parameters on the validity of the uncoupled approach. It is also found that the optimal resistances for the coupled and uncoupled representations are the same for the two motions and patch configurations considered.

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Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

Cited by 24 publications

References 33 publications

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

A Studyof Hopf and Amplitude-ControlledPhase Oscillators for Snake Robot Locomotion

Role of Electromechanical Coupling, Locomotion Type and Damping on the Effectiveness of Fish-Like Robot Energy Harvesters

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