Performance predict model for a body and caudal fin (BCF) biomimetics fish robot

Zhang, Yu; Chong, C. W.; Zhou, Chunlin; Seet, Gerald; Low, Kian Hsiang

doi:10.1109/aim.2009.5229755

Cited by 7 publications

(8 citation statements)

References 12 publications

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“…Then values of k 2 and k 5 are obtained through dividing frequency/amplitude by flow velocity respectively. For our fish robot, we can also use the predictive model in [18] to find the value of these parameters. One way to evaluate k 1 -k 6 is to use the Bode diagram, as suggested in [20].…”

Section: B Experiments Resultsmentioning

confidence: 99%

“…To evaluate the thrust force, a semi-empirical model, F T = F T (A, f, v), is developed in our previous work to model the thrust [18]. The dynamics of the swimming robots can then be given by:…”

Section: Simulation Of Station Holding Controlmentioning

confidence: 99%

“…We just use it in the simulation to find the some general trend of coefficients for (4) and (5). Details of (10) are discussed in [18]. Better coefficients will be determined according to actual experiments.…”

Section: Simulation Of Station Holding Controlmentioning

confidence: 99%

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Study and implementation of station-holding performance on a fish robot in adverse unsteady flow

Zhou

Low

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In the present work we study the station-holding performance exhibited by real fish and implement the similar performance onto a biomimetic fish robot. The aim is to make the swimming of a fish robot capable of holding its station in one-dimensional unsteady adverse flow, i.e. to obtain adaptation to the variations of flow rate. With the sensory feedbacks including water environment information and the displacement of fish robot, a closed-loop swimming control scheme is developed. Firstly, inspired by a real carp fish swimming in adverse flow, control laws that regulate the tail beat frequency and amplitude of fish robots are formulated. A non-linear oscillator is applied to model the periodic swimming gaits. As controlling parameters of the oscillator, frequency and amplitude are dynamically tuned by the feedback control laws. The output of the oscillator that generates the adaptive swimming gaits is adjusted accordingly. The control method is verified through simulation and experiments on a BCF type fish robot.

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Section: B Experiments Resultsmentioning

confidence: 99%

Section: Simulation Of Station Holding Controlmentioning

confidence: 99%

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Study and implementation of station-holding performance on a fish robot in adverse unsteady flow

Zhou

Low

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…MIT's Robotuna utilizes six, 3 horsepower servomotors in its six DOF tail [4] [3]. G9, a robotic fish developed at the University of Essex, employs a 4 DOF tail [12] and NAF-I utilizes one passive and two active joints [22]. However, because of supporting hardware requirements, we do not yet have the capabilities to drive more than a single fluidic elastomer actuator onboard our robotic platform.…”

Section: Figmentioning

confidence: 99%

Towards a Self-contained Soft Robotic Fish: On-Board Pressure Generation and Embedded Electro-permanent Magnet Valves

Marchese

Önal

Rus

2013

Experimental Robotics

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Abstract. This paper details the design, fabrication and experimental verification of a complete, tetherless, pressure-operated soft robotic platform. Miniature CO 2 cartridges in conjunction with a custom pressure regulating system are used as an onboard pressure source and embeddable electro-permanent magnet (EPM) [9] valves [13] are used to address supporting hardware requirements. It is shown that this system can repeatedly generate and regulate supply pressure while driving a fluidic elastomer actuator (FEA) [7,14,13]. To demonstrate our approach in creating tetherless soft mobile robots, this paper focuses on an example case-study: a soft robotic fish. An underactuated propulsion system emulating natural caudal fin and peduncle movement is designed, fabricated, and subsequently experimentally characterized.

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“…Buckingham"s theorem [166]. A semi-empirical model, F T = F T (A, f, V), is developed in to model the thrust.…”

Section: Simulation Of Station-holding Controlmentioning

confidence: 99%

Modeling and control of swimming gaits for fish-like robots using coupled nonlinear oscillators

Zhou¹

Self Cite

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First and foremost, I would like to thank Prof. Low Kin Huat, my supervisor, for giving me the opportunity to work with him and for his guidance and insightful comments on my research. The completion of the thesis is achieved through many rounds of discussions with him in lab, in his office or at his home. Sometimes Prof. Low was so devoted and the discussion even lasted until midnight. My most sincere gratitude is given to him for his great help in my four year study at NTU. I would like to share my achievements with my friends, Mr. Chong Chee Wee, Mr. Zhong Yu, who ever worked together with me in my project. Some results in the thesis are outcomes of exchange of ideas with them. A lot of experiments were conducted with their helps. Mr. Chong finished most of the work on the design and testing of fish robot NAF-II. My friends, Mr. Lim Hup Boon, Ms. Huang Yunyun, Ms. Wang Ping, Mr. Luu Trieu Phat, Miss Pang Wee Ching, Mr. Huang Junyi and all technicians in Robotics Research Center are acknowledged for their supports and listening ears whenever I meet difficulties. Final-year-project undergraduate students who have worked in our robotic fish team are also acknowledged for their contributions.

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Performance predict model for a body and caudal fin (BCF) biomimetics fish robot

Cited by 7 publications

References 12 publications

Study and implementation of station-holding performance on a fish robot in adverse unsteady flow

Study and implementation of station-holding performance on a fish robot in adverse unsteady flow

Towards a Self-contained Soft Robotic Fish: On-Board Pressure Generation and Embedded Electro-permanent Magnet Valves

Modeling and control of swimming gaits for fish-like robots using coupled nonlinear oscillators

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