2-DOF barycenter mechanism for stabilization of fish-robots

Author

Suebsaiprom, Pichet ; Chun-Liang Lin

Author_Institution

Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan

fYear

2013

fDate

19-21 June 2013

Firstpage

1119

Lastpage

1122

Abstract

Two-DOF barycenter mechanism and its control are proposed. The mechanism by means of the moved balancing masses along two axes changes the center of gravity of fish´s body. The projected torques on x and y axes propel pitch and roll angles to the desired values. Merging the pitching and rolling models with fish-tail and rigid-body models, the fish robot motion and maneuverability can be achieved in three dimensions. The 3-D motion has been derived based on three basic behaviors as swimming, orientating, and stabilizing. Lastly, simulation results of the barycenter stabilization system and the robot motion are given and feasibility of the realization is discussed.

Keywords

autonomous underwater vehicles; mobile robots; motion control; robot dynamics; stability; torque; 2-DOF barycenter mechanism; 3D fish robot motion; fish body center-of-gravity; fish robot maneuverability; fish-robot stabilization; fish-tail model; orientating behavior; pitch angle; pitching model; rigid-body models; roll angle; rolling model; stabilizing behavior; swimming behavior; torque projection; two-DOF barycenter control; x-axis; y-axis; Equations; Force; Hydrodynamics; Marine animals; Mathematical model; Robots; Solid modeling; 2-DOF barycenter control; fish-robot; stabilization;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on

Conference_Location

Melbourne, VIC

Print_ISBN

978-1-4673-6320-4

Type

conf

DOI

10.1109/ICIEA.2013.6566534

Filename

6566534