Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

doi:10.1016/S1672-6529(13)60221-8

摘要/Abstract

关键词: biomimetics, 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 An-guilliform 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 loco-motion, 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.

Key words: biomimetics, robotic fish, mathematical model, locomotion generation, motion library

Xuelei Niu, Jianxin Xu, Qinyuan Ren, Qingguo Wang. [J]. J4, 2013, 10(3): 251-264.

Xuelei Niu, Jianxin Xu, Qinyuan Ren, Qingguo Wang. Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish[J]. J4, 2013, 10(3): 251-264.

参考文献

[1] Yu J Z, Wang L, Tan M. Geometric optimization of relative link lengths for biomimetic robotic fish. IEEE Transactions on Robotics, 2007, 23, 382–386.
[2] Zhou C, Tan M, Cao Z Q, Wang S, Creighton D, Gu N, Nahavandi S. Kinematic modeling of a bio-inspired robotic fish. IEEE International Conference on Robotics and Automation, Pasadena, USA, 2008.
[3] Sfakiotakis M, Lane D, Davies. Review of fish swimming modes for aquatic locomotion. IEEE Journal of Oceanic Engineering, 1999, 24, 237–252.
[4] Borgen M, Washington G, Kinzel G. Introducing the ca-rangithopter: A small piezoelectrically actuated swimming vehicle. Adaptive Structures Material Systems Symposium, ASME International Congress Exposition, 2000, 247–254.
[5] Zhang Y H, He J H, Zhang G Q. Measurement on mor-phology and kinematics of crucian vertebral joints. Journal of Bionic Engineering, 2011, 8, 10–17.
[6] Zhang Y H, He J H, Low K H. Parametric study of an un-derwater finned propulsor inspired by bluespotted ray. Journal of Bionic Engineering, 2012, 9, 166–176.
[7] Nguyen P L, Do V P, Lee B R. Dynamic modeling and experiment of a fish robot with a flexible tail fin. Journal of Bionic Engineering, 2013, 10, 39–45.
[8] Yu J Z, Wang M, Su Z S, Tan M, Zhang J W. Dynamic modeling and its application for a CPG-coupled robotic fish. IEEE International Conference on Robotics and Automation, Shanghai, China, 2011.
[9] Jia Y N, Xie G M, Wang L. Path planning for robot fish in water-polo game: Tangent circle method. 9th World Con-gress on Intelligent Control and Automation (WCICA), Taipei, China, 2011.
[10] Lighthill M J. Aquatic animal propulsion of high hydrome-chanical efficiency. Journal of Fluid Mechanics, 1970, 44, 265–301.
[11] Morgansen K, Triplett B, Klein D. Geometric methods for modeling and control of free-swimming fin-actuated un-derwater vehicles. IEEE Transactions on Robotics, 2007, 23, 1184–1199.
[12] Boyer F, Porez M, Khalil W. Macro-continuous computed torque algorithm for a three-dimensional eel-like robot. IEEE Transactions on Robotics, 2006, 22, 763–775.
[13] Morgansen K A, Duidam V, Mason R J, Burdick J W, Murray R M. Nonlinear control methods for planar ca-rangiform robot fish locomotion. IEEE International Con-ference on Robotics and Automation (ICRA), 2001, 1, 427– 434.
[14] Yu J Z, Tan M, Wang S, Chen E H. Development of a biomimetic robotic fish and its control algorithm. IEEE Transactions on Systems Man and Cybernetics Part B: Cy-bernetics, 2004, 34, 1798–1810.
[15] Kelly S D, Murray R M. Modeling efficient pisciform swimming for control. International Journal of Robust and Nonlinear Control, 2000, 10, 217–241.
[16] Barbera G, Pi L, Deng X. Attitude control for a pectoral fin actuated bio-inspired robotic fish. IEEE International Con-ference on Robotics and Automation (ICRA), Shanghai, China, 2011, 526 –531.
[17] Morgansen K A, Vela P A, Burdick J W. Trajectory stabi-lization for a planar Carangiform robot fish. IEEE Interna-tional Conference on Robotics and Automation (ICRA), Washington, DC, USA, 2002.
[18] Ayers J, Wilbur C, Olcott C. Lamprey robots. Proceedings of the International Symposium on Aqua Biomechanisms, Tokyo, Japan, 2000.
[19] Rossi C, Coral W, Colorado J, Barrientos A. A motor-less and gear-less bio-mimetic robotic fish design. IEEE Inter-national Conference on Robotics and Automation (ICRA), Shanghai, China, 2011, 3646 –3651.
[20] Lighthill M J. Large-amplitude elongated-body theory of fish locomotion. Proceedings of the Royal Society of London. Series B, Biological Sciences, 1971, 179, 125–138.
[21] Yu J Z, Liu L Z, Wang L, Tan M, Xu D. Turning control of a multilink biomimetic robotic fish. IEEE Transactions on Robotics, 2008, 24, 201–206.
[22] Colgate J, Lynch K. Mechanics and control of swimming: A review. IEEE Journal of Oceanic Engineering, 2004, 29, 660–673.
[23] Ekeberg O. A combined neuronal and mechanical model of fish swimming. Biological Cybernetics, 1993, 69, 363–374.
[24] Murray R M, Sastry S S, Li Z X. A mathematical introduc-tion to robotic manipulation. 1st, CRC Press, Inc. Boca Raton, FL, USA, 1994.
[25] E. Hecht. Optics, 4th ed, Addison Wesley, San Francisco, USA, 2001.
[26] Xu J X, Niu X L. Analytical control design for a biomimetic robotic fish. IEEE International Symposium on Industrial Electronics (ISIE), 2011, 864–869.
[27] Smith A, Mobasser F, Hashtrudi-Zaad K. Neu-ral-network-based contact force observers for haptic appli-cations. IEEE Transactions on Robotics, 2006, 22, 1163–1175.