Title :
Design and implementation of a single actuated bio-mimetic robotic fish
Author :
Hong, Wan ; Jigang, Xu ; Xingsong, Wang ; Jialin, Xu
Author_Institution :
Sch. of Mech. Eng., Southeast Univ. Nanjing, Nanjing, China
Abstract :
The mechanical structure of a single actuated bio-mimetic robotic fish was designed based on forced vibration responses of a non-prismatic cantilever which mimicked the fish body deformation. To realize the cruising, turning and burst-and-coast moving modes, the hardware system based on the micro controller unit STM32F103C8T6 and the control were developed. The state variable feedback method and PID method were used to design the control algorithms respectively. The simulation and experimental results showed that the whole system could imitate the swimming of the real fish.
Keywords :
actuators; biomimetics; mobile robots; state feedback; three-term control; PID method; burst-and-coast moving modes; forced vibration; mechanical structure; microcontroller unit STM32F103C8T6; nonprismatic cantilever; single actuated biomimetic robotic fish; state variable feedback method; Computers; DC motors; Fitting; Marine animals; PD control; Robots; Trajectory; Deformation body; Robotic fish; Single actuated;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6282848
