1-DOF Beam-Driven Bionic Robotic Fish

Author

Xu, Jialin ; Wang, Xingsong

Author_Institution

Sch. of Mechenical Eng., Southeast Univ., Nanjing

fYear

2008

fDate

2-4 Dec. 2008

Firstpage

285

Lastpage

290

Abstract

Currently, the prevailing methods to design and manufacture fish-like robots focused on articulated way with multi-degree-of-freedom structure. For increasing the reliability and reducing the cost of manufacturing and controlling, a 1-DOF beam-driven bionic robotic fish was designed and tested in this paper. It took advantages of the comparability between the oscillation of an underwater cantilever beam actuated by a dynamic concentrated force and the undulation of a swimming crucian carp. The control system was designed based on DSP, and the bionic control data was obtained from the swimming curves of real crucian carp by image processing method of morphological figures. Experiments showed that the robotic fish could swim at different velocities and turn at different radius with great maneuverability and stability.

Keywords

digital signal processing chips; mobile robots; stability; underwater vehicles; 1-DOF beam-driven bionic robotic fish; DSP; bionic control data; control system; cost reduction; dynamic concentrated force; morphological figures; multidegree-of-freedom structure; swimming crucian carp; underwater cantilever beam; Control systems; Costs; Design methodology; Digital signal processing; Image processing; Marine animals; Pulp manufacturing; Robots; Structural beams; Testing; DSP; bionic robotic fish; image processing; lamella beam; servomotor control; swimming data;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on

Conference_Location

Auckland

Print_ISBN

978-1-4244-3779-5

Electronic_ISBN

978-0-473-13532-4

Type

conf

DOI

10.1109/MMVIP.2008.4749548

Filename

4749548