Simulation study of fish swimming modes for aquatic robot system

Author

Kim, Eunjung ; Youm, Youngil

Author_Institution

Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol.

fYear

2005

fDate

18-20 July 2005

Firstpage

39

Lastpage

44

Abstract

In this paper, we show the simulation result to find the suitable fish swimming modes (specially BCF swimming) for fish like underwater robot system. To find the suitable swimming modes, we assume that they have the same length, volume, and weight, but the different numbers of actuator (joint). And we use the minimum number of the joint for each swimming mode. We derive the dynamic equation for each system using Kane´s method and these results are compared by DADS. We present the optimal solution of swimming mode for some aquatic locomotion, especially faster(high propulsive efficiency) and more maneuverable (quick turning motion)

Keywords

mobile robots; motion control; robot dynamics; robot kinematics; underwater vehicles; BCF swimming; Kane method; aquatic locomotion; aquatic robot system; dynamic equation; fish swimming mode; underwater robot system; Equations; Marine animals; Mechanical engineering; Propellers; Propulsion; Robot kinematics; Tail; Turning; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507388

Filename

1507388