Experiments in carangiform robotic fish locomotion

This paper studies a form of robotic fish movement that is analogous to the carangiform style of swimming seen in nature. We propose a simple quasi-steady fluid flow model for predicting the thrust generated by the flapping tail. We then describe an experimental system, consisting of a three-link ro...

Full description

Saved in:
Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 1; pp. 428 - 435 vol.1
Main Authors Mason, R., Burdick, J.W.
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 2000
Subjects
Fluid flow
Marine animals
Mechanical engineering
Postal services
Predictive models
Propellers
Propulsion
Robots
Tail
Turning
Online AccessGet full text

Cover

More Information
Summary:This paper studies a form of robotic fish movement that is analogous to the carangiform style of swimming seen in nature. We propose a simple quasi-steady fluid flow model for predicting the thrust generated by the flapping tail. We then describe an experimental system, consisting of a three-link robot, that has been constructed in order to study carangiform-like swimming. Experimental results obtained with this system suggest that the simplified propulsion model is reasonably accurate. The input parameters that realize optimum thrust are experimentally determined. Finally, we consider some issues in maneuvering.
Bibliography:SourceType-Scholarly Journals-2
ObjectType-Feature-2
ObjectType-Conference Paper-1
content type line 23
SourceType-Conference Papers & Proceedings-1
ObjectType-Article-3
ISBN:9780780358867
0780358864
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2000.844093