Title :
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
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;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521917
