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Kinematic modeling of a bio-inspired robotic fish

Zhou, Chao, Tan, Min, Cao, Zhiqiang, Wang, Shuo, Creighton, Douglas, Gu, Nong and Nahavandi, Saeid 2008, Kinematic modeling of a bio-inspired robotic fish, in ICRA 2008 : IEEE International Conference on Robotics and Automation, IEEE, Piscataway, N.J., pp. 695-699, doi: 10.1109/ROBOT.2008.4543286.

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Title Kinematic modeling of a bio-inspired robotic fish
Author(s) Zhou, Chao
Tan, Min
Cao, Zhiqiang
Wang, Shuo
Creighton, DouglasORCID iD for Creighton, Douglas orcid.org/0000-0002-9217-1231
Gu, Nong
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Conference name IEEE International Conference on Robotics and Automation (2008 : Pasadena, Calif.)
Conference location Pasadena, Calif.
Conference dates 19-23 May 2008
Title of proceedings ICRA 2008 : IEEE International Conference on Robotics and Automation
Editor(s) Amato, Nancy M.
Kosuge, Kazuhiro
Papanikolopoulos, Nikos
Stappen, Frank van der
Yagi, Yasushi
Chiaverini, Stefano
Nebot, Eduardo M.
Rizzi, Al
Sugano, Shigeki
Publication date 2008
Conference series International Conference on Robotics and Automation
Start page 695
End page 699
Total pages 5
Publisher IEEE
Place of publication Piscataway, N.J.
Summary This paper proposes a kinematic modeling method for a bio-inspired robotic fish based on single joint. Lagrangian function of freely swimming robotic fish is built based on a simplified geometric model. In order to build the kinematic model, the fluid force acting on the robotic fish is divided into three parts: the pressure on links, the approach stream pressure and the frictional force. By solving Lagrange's equation of the second kind and the fluid force, the movement of robotic fish is obtained. The robotic fish's motion, such as propelling and turning are simulated, and experiments are taken to verify the model.
Notes ©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
ISBN 9781424416479
Language eng
DOI 10.1109/ROBOT.2008.4543286
Field of Research 080110 Simulation and Modelling
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2008, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30018332

Document type: Conference Paper
Collections: Institute for Technology Research and Innovation
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.