Modeling and implementation of a biomimetic robotic fish

Author

Korkmaz, D. ; Budak, U. ; Bal, C. ; Koca, G. Ozmen ; Akpolat, Z.H.

Author_Institution

Dept. of Electron. & Comput. Sci., Firat Univ., Elazig, Turkey

fYear

2012

fDate

20-22 June 2012

Firstpage

1187

Lastpage

1192

Abstract

In this study, design and implementation of a remote-controlled, 4-joints flapping mechanism and autonomous-swimming biomimetic robotic fish are presented. The propulsive model of the robotic fish is given considering the biological fish structure. The motion control of the robotic fish is performed by using speed and position control. The forward speed of the robotic fish can be adjusted by changing oscillation frequency, oscillation amplitude and length of the oscillation mechanism. Its position is controlled by implementing different joints angles.

Keywords

angular velocity control; autonomous underwater vehicles; biomimetics; mobile robots; motion control; position control; telecontrol; 4-joints flapping mechanism; autonomous-swimming biomimetic robotic fish; biological fish structure; motion control; oscillation amplitude; oscillation frequency; position control; propulsive model; remote control; speed control; Biological system modeling; Educational institutions; Joints; Marine animals; Mathematical model; Robots; Servomotors; Autonomous swimming; Biomimetic Robotic fish; Carangiform motion; Propulsive model;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2012 International Symposium on

Conference_Location

Sorrento

Print_ISBN

978-1-4673-1299-8

Type

conf

DOI

10.1109/SPEEDAM.2012.6264510

Filename

6264510