DocumentCode
2941538
Title
Simulation Study of Fish Swimming Modes for Aquatic Robot System
Author
Kim, Eunjung ; Youm, Youngil
Author_Institution
Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH) Pohang, Korea, kejjung@postech.ac.kr
fYear
2005
fDate
18-22 April 2005
Firstpage
3330
Lastpage
3335
Abstract
In this paper, we show the simulation result to find the suitable fish swimming modes (especially BCF swimming) for fishlike underwater robot system. To find the suitable swimming modes, we assume that they have the same length, volume, and weight, but they have the different numbers of actuator (joint). And we use the minimum number of joint for each swimming mode. We derive the dynamic equation for each system using Kane’s method and these results are compared by the result of DADS. We present the optimal solution of swimming mode for some aquatic locomotion, especially faster (high propulsive efficiency) and more maneuverable (quick turning motion).
Keywords
bioinspired fish robot; swimming mode; underwater vehicle; Actuators; Equations; Marine animals; Mechanical engineering; Propulsion; Robot kinematics; Robotics and automation; Turning; Underwater vehicles; Vehicle dynamics; bioinspired fish robot; swimming mode; underwater vehicle;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570624
Filename
1570624
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