Exploring Optimal Gaits for Planar Carangiform Robot Fish Locomotion
نویسندگان
چکیده
This paper presents a strategy to find an optimal gait for the model of the biomimetic swimmer developed at Caltech to transit forward minimizing control effort, or the integral of squared angular acceleration of the two joints. According to the previous works, it is accepted that a series of sinusoidal-type gaits generates forward transition. Using this sinusoidal gaits as initial guess for optimization, improved gaits are found using a numerical optimization software, NLPP Toolbox for Matlab. The performance of the determined gaits is tested using the Simulink model. Copyright c ©2005 IFAC
منابع مشابه
Nonlinear Control Methods for Planar Carangiform Robot Fish Locomotion
This paper considers the design of mot ion control algorithms f o r robot fish. W e present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic f ish system that is propelled using carangiform-like locomot ion. Our model for the fish’s propulsion is based o n quasi-steady fluid flow. Using this model, we propose gaits for forward and turning...
متن کاملSimulation and optimization of live fish locomotion in a biomimetic robot fish
This paper presents simplified hydrodynamics model for a biomimetic robot fish based on quantitative morphological and kinematic parameters of crangiform fish. The motion of four Pangasius sanitwongsei with different length and swimming speed were recorded by the digital particle image velocimetry (DPIV) and image processing methods and optimal coefficients of the motion equations and appropria...
متن کاملModelling and Experimental Investigation of Carangiform Locomotion for Control
We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to vortex shedding through controlled coupling terms. We investigate the correct form of this coupling experimentally with a robotic propulsor, comparing its observed behavior to that predicted by unsteady...
متن کاملTrajectory Stabilization for a Planar Carangiform Robot Fish
This paper considers the task of trajectory stabilization for a fish-like robot by means of feedback. We use oscillatory control inputs and apply correction signals at the endpoints of each periodic input signal. Such a strategy can be proven to cause the system to converge to a desired trajectory. We present a specific model of a planar carangiform fish, and verify the stabilization results wi...
متن کاملConstruction and Modelling of a Carangiform Robotic Fish
We describe an experimental testbed which we have constructed to study carangiform fish-like swimming. We mimic a carangiform fish with a three-link robot, the tailfin link of which acts as a flat-plate hydrofoil. We experiment with sinusoidal signals to the joint actuators. The experimental results agree well with a simulation assuming quasi-steady flow around the tailfin. 1. Motivation Many f...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005