Smooth gait optimization of a fish robot using the genetic-hill climbing algorithm

Vo, Tuong Quan; Kim, Hyoung Seok; Lee, Byung Ryong

doi:10.1017/s0263574711000555

Cited by 7 publications

(4 citation statements)

References 17 publications

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“…If we consider only the movement of fish robot in forward direction, thus u F is the relative velocity at the center of the fish tail in the y b direction (Vo et al, 2012), which is determined by using Fig. 2.…”

Section: Hydrodynamic Force On the Fish Tailmentioning

confidence: 99%

“…To exploit these swimming mechanism advantages, this study developed a carangiform 4-link planar robot based on previous research (Nakashima & Ohgishi, 2003;Yu & Wang, 2005;Kim, Lee, Vo & Trung, 2008;Vo, Kim, Cho, Dang & Lee, 2009;Vo, Kim & Lee, 2012;Niku, 2001). Lagrange's formulation was used to develop the mathematical model of 4-link carangiform locomotion.…”

Section: Introductionmentioning

confidence: 99%

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Maneuverability modeling and trajectory tracking for fish robot

Suebsaiprom

Lin

2015

Control Engineering Practice

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Section: Hydrodynamic Force On the Fish Tailmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Maneuverability modeling and trajectory tracking for fish robot

Suebsaiprom

Lin

2015

Control Engineering Practice

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“…Afterwards, thrust force and lateral force components are calculated by using inertial fluid and lift forces. The value of constant flow is determined as 0.08 m/s to reduce the turbulent effects [35]. According to Figure 6, F V is a proportional force to the acceleration and it is calculated by Equation (2) and the lift force is also vertical to the flow and it is defined as Equation (3):…”

Section: Hydrodynamic Forces Acting On the Tailmentioning

confidence: 99%

Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion

et al. 2018

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This work focuses on developing a complete non-linear dynamic model comprising entirely kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors of a real carp. In order to imitate biological features, swimming patterns of a real carp for forward, turning and up-down motions are analyzed by using the Kineova 8.20 software. The proportional optimum link lengths according to actual size, swimming speed, flapping frequency, proportional physical parameters and different swimming motions of the real carp are investigated with the designed robotic fish model. Three-dimensional (3D) locomotion is evaluated by tracking two trajectories in a MATLAB environment. A Reaching Law Control (RLC) approach for inner loop (Euler angles-speed control) and a guidance system for the outer loop (orientation control) are proposed to provide an effective closed-loop control performance. In order to illustrate the 3D performance of the proposed closed loop control system in a virtual reality platform, the designed robotic fish model is also implemented using the Virtual Reality Modeling Language (VRML). Simulation and experimental analysis show that the proposed model gives us significant key solutions to design a fish-like robotic prototype.

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“…Inspired by such knowledge and by the strive of the world for energy-efficient new technologies, many researchers have introduced the idea of AUVs that mimic the propulsion of fishes as an alternative to the "canonical" propeller-driven AUV. This approach, known as bio-memetic or bionic autonomous underwater vehicles (BAUVs), supposes that such systems can potentially reach the same performance as natural biological systems (e.g., fishes) [3][4][5][6][7][8]. However, because biological systems are very complex and have been "tuned" by natural evolution over millions of years, there is a need for the optimization of their man-engineered counterparts to reach similar levels of performance and realism.…”

Section: Introductionmentioning

confidence: 99%

The Effect of a Limited Underactuated Posterior Joint on the Speed and Energy Efficiency of a Fish Robot

Heinen,

Tanev,

Kimura

2024

Applied Sciences

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Autonomous underwater vehicles (AUVs) commonly use screw propellers to move in a water environment. However, compared to the propeller-driven AUV, bio-inspired AUVs feature a higher energy efficiency, longer lifespan (due to a lack of cavitation), and better eco-friendliness (due to lower noise, a lack of vibrations, and a weaker wake). To generate propulsion, the design of fish robots—viewed as a special case of a bio-inspired AUV—comprise multiple actuated joints. Underactuated joints have also been adopted in bio-inspired AUVs, primarily for the purpose of achieving a simpler design and more realistic and biologically plausible locomotion. In our work, we propose a limitedly underactuated posterior (tail) joint of a fish robot with the intention of achieving a higher swimming speed and better energy efficiency of the robot. The limited underactuation is achieved by allowing the joint to move freely but only within a limited angular range. The experimental results verified that, for relatively small angular ranges, the limitedly underactuated joint is superior to both fully actuated and fully underactuated joints in that it results in faster and more energy-efficient locomotion of the fish robot.

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Smooth gait optimization of a fish robot using the genetic-hill climbing algorithm

Cited by 7 publications

References 17 publications

Maneuverability modeling and trajectory tracking for fish robot

Maneuverability modeling and trajectory tracking for fish robot

Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion

The Effect of a Limited Underactuated Posterior Joint on the Speed and Energy Efficiency of a Fish Robot

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