biomimetics, robotic fish, mathematical model, locomotion generation, motion library ," /> biomimetics, robotic fish, mathematical model, locomotion generation, motion library ,"/> biomimetics, robotic fish, mathematical model, locomotion generation, motion library ,"/> Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

J4 ›› 0, Vol. ›› Issue (): 251-264.doi: 10.1016/S1672-6529(13)60221-8

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Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

  

  1. Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore
  • 收稿日期:2012-11-10 修回日期:2012-12-10 发布日期:2013-10-10
  • 通讯作者: Xuelei Niu E-mail:niuxuelei@nus.edu.sg
  • 作者简介:Xuelei Niu, Jianxin Xu, Qinyuan Ren, Qingguo Wang

Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

  1. Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore
  • Received:2012-11-10 Revised:2012-12-10 Published:2013-10-10
  • Contact: Xuelei Niu E-mail:niuxuelei@nus.edu.sg
  • About author:Xuelei Niu, Jianxin Xu, Qinyuan Ren, Qingguo Wang

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关键词: font-family: "Times New Roman", font-size: 9pt, mso-fareast-font-family: 宋体, mso-ansi-language: EN-US, mso-fareast-language: ZH-CN, bmso-bidi-language: AR-SA" lang="EN-US">bfont-size: 9pt, mso-fareast-font-family: 宋体, mso-font-kerning: 1.0pt, mso-ansi-language: EN-US, mso-fareast-language: ZH-CN, iomimetics, robotic fish, mathematical model, locomotion generation, motion library ')">mso-bidi-language: AR-SA" lang="EN-US">iomimetics, robotic fish, mathematical model, locomotion generation, motion library

Abstract:

In this paper, modeling, locomotion generation, motion library design and path planning for a real prototype of an Anguilliform robotic fish are presented. The robotic fish consists of four links and three joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints and hydrodynamic forces, Lagrangian formulation is used to obtain the dynamic model of the fish. Using this model, three major locomotion patterns of Anguilliform fish, including forward locomotion, backward locomotion and turning locomotion are investigated. It is found that the fish exhibits different locomotion patterns by giving different reference joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles. The results are validated by both simulations and experiments. Furthermore, the relations among the speed of the fish, angular frequency, undulation amplitude, phase difference, as well as the relationship between the turning radius and deflection angle are investigated. These relations provide an elaborated motion library that can be used for motion planning of the robotic fish.

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