Advertisement

Study on Swimming Curve Fitting of Biomimetic Carangiform Robotic Fish

  • Baodong Lou
  • Yu Cong
  • Minghe MaoEmail author
  • Ping Wang
  • Jiangtao Liu
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 924)

Abstract

At present, the biomimetic carangiform robotic fish with infinite flexible structure has not been presented. In order to facilitate the robotic fish swimming mode control, based on a finite flexible structure a number of rigid joints are used instead. In order to overcome the existing curve fitting method which endpoint of each joint falls on the swimming curve, causing the deviation between the fitting curve and the real swimming curve is larger. In this paper, a minimum error criterion is proposed to fit the swimming curve for a three-joint biomimetic carangiform robotic fish. Experimental results show that the proposed method which causes the endpoints of robotic fish moving joints not falling on the fitted swimming curve can obtain more accurate swimming motion according to the real fish than that uses the conventional endpoints-on-fitted-curve method. Moreover and thus, using the proposed method the swimming velocity of the robotic fish is improved rapidly.

Keywords

Biomimetic carangiform robotic fish Curve fitting Motion equation Minimum error 

References

  1. 1.
    Yu, J., Ding, R., Yang, Q., Tan, M., Wang, W., Zhang, J.: On a bioinspired amphibious robot capable of multimodal motion. IEEE/ASME Trans. Mechatron. 17(5), 847–856 (2012)CrossRefGoogle Scholar
  2. 2.
    Lu, X.Y., Yin, X.Z.: Propulsive performance of a fish-like travelling wavy wall. Acta Mech. 175(1), 197–215 (2005)CrossRefGoogle Scholar
  3. 3.
    Hong, C.: Kinematic mechanism research on the swimming and maneuvering of robot fish. Ph.D. dissertation, University of Science and Technology of China, China (2006)Google Scholar
  4. 4.
    Sfakiotakis, M., Lane, D.M., Davies, J.B.C.: Review of fish swimming modes for aquatic locomotion. IEEE J. Oceanic Eng. 24(2), 237–252 (1999)CrossRefGoogle Scholar
  5. 5.
    Hu, T., Lin, L., Zhang, D., Wang, D., Shen, L.: Effective motion control of the biomimetic undulating fin via iterative learning. In: 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), Guilin, pp. 627–632 (2009)Google Scholar
  6. 6.
    Low, K.H., Willy, A.: Biomimetic motion planning of an undulating robotic fish fin. J. Vib. Control 12(12), 1337–1359 (2006)CrossRefGoogle Scholar
  7. 7.
    Liu, J., Dukes, I., Knight, R., et al.: Development of fish-like swimming behaviours for an autonomous robotic fish. Univ. Bath 15(1), 6–9 (2004)Google Scholar
  8. 8.
    Lighthill, M.J.: Note on the swimming of slender fish. J. Fluid Mech. 9(2), 305–317 (1960)MathSciNetCrossRefGoogle Scholar
  9. 9.
    Taylor, G.: Analysis of the Swimming of Microscopic Organisms. Proc. Roy. Soc. Math. Phys. Eng. Sci. 209(209), 447–461 (1951)MathSciNetCrossRefGoogle Scholar
  10. 10.
    Domenici, P., Blake, R.W.: The kinematics and performance of the escape response in the anglefish (Pterophyllum eimekei). J. Exp. Biol. 156, 187–205 (1991)Google Scholar
  11. 11.
    Spierts, I.L., Leeuwen, J.L.: Kinematics and muscle dynamics of C- and S-starts of carp (Cyprinus carpio L.). J. Exp. Biol. 202(Pt 4), 393 (1999)Google Scholar
  12. 12.
    Rosenberger, L.J.: Pectoral fin locomotion in batoid fishes: undulation versus oscillation. J. Exp. Biol. 204(2), 379–394 (2001)Google Scholar
  13. 13.
    Ijspeert, A.J.: Central pattern generators for locomotion control in animals and robots: a review. Neural Netw. 21(4), 642–653 (2008)CrossRefGoogle Scholar
  14. 14.
    Chen, W.H., Ren, G.J., Zhang, J.B., Wang, J.H.: Smooth transition between difierent gaits of a hexapod robot via a central pattern generators algorithm. J. Intell. Rob. Syst. 67(3–4), 255–270 (2012)CrossRefGoogle Scholar
  15. 15.
    Chuan, L.K., Kit, T.W.: Task learning utilizing curve fitting method for kinect based humanoid robot. In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), Bali, pp. 1505–1511 (2014)Google Scholar
  16. 16.
    Liu, Y.-X.: The entity design and dynamic research on the two-joint robot fish. Master dissertation, Harbin Institute of Technology, China (2007)Google Scholar
  17. 17.
    Liu, J., Hu, H.: Biological inspiration: from carangiform fish to multi-joint robotic fish. J. Bionic Eng. 7(1), 35–48 (2010)CrossRefGoogle Scholar
  18. 18.
    Liu, J., Hu, H.: Mimicry of sharp turning behaviours in a robotic fish. In: 2005 IEEE International Conference on Robotics and Automation, pp. 3318–3323. IEEE (2005)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  • Baodong Lou
    • 1
  • Yu Cong
    • 2
  • Minghe Mao
    • 3
    Email author
  • Ping Wang
    • 2
  • Jiangtao Liu
    • 1
  1. 1.School of Mechanical and Electrical EngineeringHohai UniversityNanjingChina
  2. 2.School of Energy and ElectricalHohai UniversityNanjingChina
  3. 3.School of Computer and InformationHohai UniversityNanjingChina

Personalised recommendations