Turning motion direction of fish robot driven by non-uniform flexible pectoral fins

Pham, Van Anh; Nguyen, Tan Tien; Vo, Tuong Quan

doi:10.1109/sigtelcom.2018.8325800

Cited by 3 publications

(3 citation statements)

References 14 publications

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“…We have developed a dynamic model for a robotic fish with a compliant joint. In contrast to the elastic plates that are often chosen as the flexible components of a robotic fish [22][23][24][25][26][27], we adopt torsion springs to constitute a compliant passive joint, which reduces the complexity of dynamic modeling distinctly. The Lagrangian dynamic method is adopted to model an underactuated system and the Morrison equation is utilized to calculate the hydrodynamic forces exerted on robotic fish.…”

Section: Discussionmentioning

confidence: 99%

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Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Chen

Dong

et al. 2020

Bioinspir. Biomim.

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In this paper, a novel compliant joint with two identical torsion springs is proposed for a biomimetic multi-joint robotic fish, which enables imitatation of the swimming behavior of live fish. More importantly, a dynamic model based on the Lagrangian dynamic method is developed to explore the compliant passive mechanism. In the dynamic modeling, a simplified Morrison equation is utilized to analyze the hydrodynamic forces. Further, the parameter identification technique is employed to estimate numerous hydrodynamic parameters. The extensive experimental data with different situations match well with the simulation results, which verifies the effectiveness of the obtained dynamic model. Finally, motivated by the requirement for performance optimization, we firstly take advantage of a dynamic model to investigate the effect of joint stiffness and control parameters on the swimming speed and energy efficiency of a biomimetic multi-joint robotic fish. The results reveal that phase difference plays a primary role in improving efficiency and the compliant joint presents a more significant role in performance improvement when a smaller phase difference is given. Namely, at the largest actuation frequency, the maximum improvement of energy efficiency is obtained and surprisingly approximates 89%. Additionally, the maximum improvement in maximum swimming speed is about 0.19 body lengths per second. These findings demonstrate the potential of compliance in optimizing joint design and locomotion control for better performance.

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Section: Discussionmentioning

confidence: 99%

“…To date, some dynamic models for biomimetic robotic fish with flexible components have been developed to predict swimming performance [21][22][23][24][25][26][27]. Kopman et al used the Euler-Bernoulli beam theory to model a flexible tail and hydrodynamic parameters were estimated with the least squares method [23].…”

Section: Introductionmentioning

confidence: 99%

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Chen

Dong

et al. 2020

Bioinspir. Biomim.

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“…This is the difference between the two papers in controllability. Pham et al [ 41 ] used a controller to control the steering movement that relies on the pectoral and dorsal fins. Li et al [ 42 ] studied the coordinated turning characteristics achieved with the pectoral and caudal fins.…”

Section: Design Of Structural Modelmentioning

confidence: 99%

The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin

Xue

Song³

2021

Applied Bionics and Biomechanics

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In this study, the C-turning, pitching, and flapping propulsion of a robotic dolphin during locomotion were explored. Considering the swimming action required of a three-dimensional (3D) robotic dolphin in the ocean, we propose a maneuverability model that can be applied to the flapping motion to provide precise and stable movements and function as the driving role in locomotion. Additionally, an added tail joint allows for the turning movement with efficient parameters obtained by a fluid-structure coupling method. To obtain a mathematical model, several disturbance signals were considered, including systematic uncertainties of the parameters, the perpetually changing environment, the interference from obstacles with effective fuzzy rules, and a sliding mode of control. Furthermore, a combined strategy of environment recognition was used for the positional control of the robotic dolphin, incorporating sonar, path planning with an artificial potential field, and trajectory tracking. The simulation results show satisfactory performance of the 3D robotic dolphin with respect to flexible movement and trajectory tracking under the observed interference factors.

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A Dynamic Analysis and Realization of Diodontiform Fish Robot

Pham,

Tran,

Dao

et al. 2023

2023 International Conference on Advanced Technologies for Communications (ATC)

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Turning motion direction of fish robot driven by non-uniform flexible pectoral fins

Cited by 3 publications

References 14 publications

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin

A Dynamic Analysis and Realization of Diodontiform Fish Robot

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