Development of modular and reconfigurable biomimetic robotic fish with undulating fins
文献类型：会议论文
| 作者 | Low, K.H; Yu, Junzhi
|
| 出版日期 | 2007 |
| 会议名称 | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO |
| 会议日期 | December 15, 2007 - December 18, 2007 |
| 会议地点 | Yalong Bay, Sanya, China |
| 关键词 | Biomimetic robots robotic knifefish undulating fins, robotic eel |
| 通讯作者 | Low, K.H |
| 英文摘要 | Different versions of biomimetic robotic fish mimicking undulating fins of Black Ghost Knifefish have been designed and developed. To mimic the actual flexible fin of real fish, an optimized fin-like propulsion mechanism is modelled with a series of connecting linkages for enhancing its propulsive performance. Motion studies for optimizing the undulating fins design have been conducted. Workspace and locomotion of the fin mechanism are derived and the parametric study of the locomotion is presented. With these studies, an optimal design providing the best workspace, which can drive the highest possible amplitude, have been developed. The manoeuvrability and buoyancy control can be achieved by the integration of mechatronics design of a buoyancy module with the undulating fin. The design philosophy of modularity was incorporated into the design of the fish. Hence, the modularity of the prototypes not only provides versatility for the robot system and also facilitates in the maintenance and future development of fish with undulating fins/body, as new modules can be added to replace the existing modules easily. By reconfiguring the components of NKF-II, other version of robotic fish with undulating fins/body is derived. This evolution of the undulating fins is also discussed. |
| 会议录 | IEEE International Conference on Robotics and Biomimetics
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13068]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTTJ), Singapore 639798, Singapore (2) Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100080, China |
| 推荐引用方式 GB/T 7714 | Low, K.H,Yu, Junzhi. Development of modular and reconfigurable biomimetic robotic fish with undulating fins[C]. 见:2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. Yalong Bay, Sanya, China. December 15, 2007 - December 18, 2007. |
入库方式： OAI收割
来源：自动化研究所
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