Analysis of Velocity Control Algorithms for Biomimetic Robot Fish

Author

Wang, Shuo ; Zhang, Zhigang ; Sang, Haiquan

Author_Institution

Inst. of Autom., Chinese Acad. of Sci., Beijing

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

972

Lastpage

976

Abstract

As a novel unmanned underwater vehicle (UUV), biomimetic robot fish is able to carry out underwater missions, and more recent interest among scientists in describing it. In this paper, three modes for velocity control of carangiform robot fish are induced, which are velocity control based on oscillation frequency, velocity control based on oscillation amplitude, and velocity control based on the length of oscillation body. Firstly, physical and mathematical models of carangiform fish swimming are introduced. Secondly, each algorithm is described in detail. Thirdly, a prototype of carangiform robot fish and an experiment platform are introduced. Finally, these velocity control algorithms are experimented on the platform, and experiment result shows the performance of each algorithm

Keywords

biomimetics; mobile robots; oscillations; underwater vehicles; velocity control; biomimetic robot fish; carangiform robot fish; oscillation body length; unmanned underwater vehicle; velocity control; Algorithm design and analysis; Biomimetics; Content addressable storage; Frequency; Intelligent robots; Intelligent systems; Marine animals; Robot kinematics; Tail; Velocity control; Amplitude; Frequency; Robot fish; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521917

Filename

1521917