TY - GEN
T1 - Modeling of a caudal-fin-driven robotic fish with buoyancy-adjusting system
AU - Deng, Heng
AU - Cui, Rongxin
AU - Hu, Haibao
AU - Wei, Rongrong
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - 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.
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.
KW - biomimetic robotic fish
KW - motion model
KW - parameter identification
KW - particle swarm optimization
UR - http://www.scopus.com/inward/record.url?scp=85050799779&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2017.8273214
DO - 10.1109/ICARM.2017.8273214
M3 - 会议稿件
AN - SCOPUS:85050799779
T3 - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
SP - 504
EP - 509
BT - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Y2 - 27 August 2017 through 31 August 2017
ER -