Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system

Heng Deng; Rongxin Cui; Haibao Hu; Rongrong Wei

doi:10.1109/ICARM.2017.8273214

Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system

Heng Deng, Rongxin Cui, Haibao Hu, Rongrong Wei

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, the dynamic model of a self-developed robotic fish propelled by a flexible caudal fin is presented. The robotic fish has a rigid body and a flexible caudal fin. The dynamic model is derived in accordance with the momentum and angular momentum theorem, and the 6 degree-of-freedoms (DOFs) model is built. To get the hydrodynamic parameters, the particle swarm optimization (PSO) method is employed. On this basis, the original 6 DOFs model is decoupled into horizontal and vertical models, whose effectiveness is confirmed by simulation and experiments. In final, experimental results are provided.

Original language	English
Title of host publication	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	504-509
Number of pages	6
ISBN (Electronic)	9781538632604
DOIs	https://doi.org/10.1109/ICARM.2017.8273214
State	Published - 2 Jul 2017
Event	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 - Hefei and Tai'an, China Duration: 27 Aug 2017 → 31 Aug 2017

Publication series

Name	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Volume	2018-January

Conference

Conference	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Country/Territory	China
City	Hefei and Tai'an
Period	27/08/17 → 31/08/17

Keywords

biomimetic robotic fish
motion model
parameter identification
particle swarm optimization

Access to Document

10.1109/ICARM.2017.8273214

Cite this

Deng, H., Cui, R., Hu, H., & Wei, R. (2017). Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 (pp. 504-509). (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2017.8273214

Deng, Heng ; Cui, Rongxin ; Hu, Haibao et al. / Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 504-509 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017).

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title = "Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system",

abstract = "In this paper, the dynamic model of a self-developed robotic fish propelled by a flexible caudal fin is presented. The robotic fish has a rigid body and a flexible caudal fin. The dynamic model is derived in accordance with the momentum and angular momentum theorem, and the 6 degree-of-freedoms (DOFs) model is built. To get the hydrodynamic parameters, the particle swarm optimization (PSO) method is employed. On this basis, the original 6 DOFs model is decoupled into horizontal and vertical models, whose effectiveness is confirmed by simulation and experiments. In final, experimental results are provided.",

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author = "Heng Deng and Rongxin Cui and Haibao Hu and Rongrong Wei",

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year = "2017",

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Deng, H, Cui, R , Hu, H & Wei, R 2017, Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system. in 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 504-509, 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, Hefei and Tai'an, China, 27/08/17. https://doi.org/10.1109/ICARM.2017.8273214

Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system. / Deng, Heng; Cui, Rongxin ; Hu, Haibao et al.
2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 504-509 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, the dynamic model of a self-developed robotic fish propelled by a flexible caudal fin is presented. The robotic fish has a rigid body and a flexible caudal fin. The dynamic model is derived in accordance with the momentum and angular momentum theorem, and the 6 degree-of-freedoms (DOFs) model is built. To get the hydrodynamic parameters, the particle swarm optimization (PSO) method is employed. On this basis, the original 6 DOFs model is decoupled into horizontal and vertical models, whose effectiveness is confirmed by simulation and experiments. In final, experimental results are provided.

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Deng H, Cui R , Hu H, Wei R. Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 504-509. (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017). doi: 10.1109/ICARM.2017.8273214

Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system

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