Abstract
A novel prototype of biomimetic robot fish named FAC-I with 3-D locomotion ability is developed in this paper. The locomotion of the caudal fin conforms to the law of dolphin motion to drive the robot fish’s movement, and pectoral fins are applied to provide auxiliary locomotion ability and each can flap separately and rotate freely, which compose the original three-fin structure. The dynamic analysis of the caudal fin is discussed based on the 2-D waving plate theory. In order to complete descending and ascending motions, a distinctive piston-based artificial swim bladder is designed, which simulates the air bladder of fish. Several biomimetic motions are designed, such as accelerating, decelerating, turning, diving. An information relay system on water is designed to connect the robot fish under water and upper console. The information processing framework of the robot fish and the relative information processing methods are discussed for the purpose of automatic control and environmental monitoring. Some experiments show the performance of FAC-I.
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Zhou, C., Wang, L., Cao, Z., Wang, S., Tan, M. (2008). Design and Control of Biomimetic Robot Fish FAC-I. In: Kato, N., Kamimura, S. (eds) Bio-mechanisms of Swimming and Flying. Springer, Tokyo. https://doi.org/10.1007/978-4-431-73380-5_20
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DOI: https://doi.org/10.1007/978-4-431-73380-5_20
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-73379-9
Online ISBN: 978-4-431-73380-5
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