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Kinematic modeling of a bio-inspired robotic fish

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conference contribution
posted on 2008-01-01, 00:00 authored by C Zhou, M Tan, Z Cao, S Wang, Douglas CreightonDouglas Creighton, Nong Gu, Saeid Nahavandi
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.

History

Pagination

695 - 699

Location

Pasadena, Calif.

Open access

  • Yes

Start date

2008-05-19

End date

2008-05-23

ISBN-13

9781424416479

Language

eng

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.

Publication classification

E1 Full written paper - refereed

Copyright notice

2008, IEEE

Editor/Contributor(s)

N Amato, K Kosuge, N Papanikolopoulos, F Stappen, Y Yagi, S Chiaverini, E Nebot, A Rizzi, S Sugano

Title of proceedings

ICRA 2008 : IEEE International Conference on Robotics and Automation

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