Title :
Parameter Optimization of Simplified Propulsive Model for Biomimetic Robot Fish
Author :
Yu, Junzhi ; Wang, Long
Author_Institution :
Intelligent Control Laboratory Center for Systems and Control, Department of Mechanics and Engineering Science Peking University, Beijing 100871, P.R. China, jzyu@mech.pku.edu.cn
Abstract :
This paper is concerned with the parameter optimization for a simplified propulsive model of biomimetic robot fish propelled by a multiple linked mechanism. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-length ratio is numerically calculated by an improved constrained cyclic variable method. The result is successfully applied to the 4-linked robot fish developed in our laboratory. The comparative experiments on forward swimming speed of the robot fish before and after parameter optimization verify the effectiveness of our method.
Keywords :
Biomimetic robot fish; constrained cyclic variable method; mechanical design; parameter optimization; underwater robot; Biomimetics; Hydrodynamics; Intelligent control; Intelligent robots; Laboratories; Marine animals; Optimization methods; Propulsion; Robot kinematics; Robot sensing systems; Biomimetic robot fish; constrained cyclic variable method; mechanical design; parameter optimization; underwater robot;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570620
