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

Abstract

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.

An Environmental Perception Framework for Robotic Fish Formation Based on Machine Learning Methods

“…It is a well known fact that, in nature, the fish propels itself by the coordinate motion of its body, fins, and tail, achieving higher propulsive efficiency and better maneuverability than the conventional AUVs powered by rotary propellers with the same power consumption [2]. To improve the efficiency of AUVs, more research studies are performed on application, design, and control of underwater robotic fish in recent years [3][4][5][6][7][8][9].…”

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

“…In order to analyze the two-link chain structure of a fish model, three points are defined to verify link lengths on forward and turning swimming patterns of the real fish as seen in Figure 1. The fact that the robotic fish has as many joints as possible allows the real fish motions to be imitated more easily [15,21,22,36]. However, with the proposed two-link tail mechanism, a simpler and more practical design can be achieved.…”

“…There are two basic approaches in robotic fish design. First is the biomimetic design which has certain requirements such as a tail with the size and number of joints to provide body travelling wave, and the ability to stay at a certain depth with the control of the center of gravity [15,21,22]. The second design approach uses only the movement effects of fish, but it is not physically inspired by real fish.…”

“…A detailed examination of fish helps us learn about providing significant limitations and constraints of any biological property before designing a robotic fish [14,15]. A bio-inspired robotic fish uses undulatory and/or oscillatory body motions [16,17].…”

Agustín de Betancourt’s Optical Telegraph: Geometric Modeling and Virtual Reconstruction

“…Three-dimensional CAD modeling techniques constitute a very important tool in the process of the study and design of historical heritage, for example, in the fields of cultural heritage [21], aerospace [22], civil [23], horological [24], architectural [25], and more generally, in the study of any virtual model [26][27][28], as a previous step to CAE analysis [29,30]. Appl.…”