nahavandi-kinematicmodeling-2008.pdf (429.51 kB)
Kinematic modeling of a bio-inspired robotic fish
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 NahavandiThis 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
Event
IEEE International Conference on Robotics and Automation (2008 : Pasadena, Calif.)Pagination
695 - 699Publisher
IEEELocation
Pasadena, Calif.Place of publication
Piscataway, N.J.Publisher DOI
Start date
2008-05-19End date
2008-05-23ISBN-13
9781424416479Language
engNotes
©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 - refereedCopyright notice
2008, IEEEEditor/Contributor(s)
N Amato, K Kosuge, N Papanikolopoulos, F Stappen, Y Yagi, S Chiaverini, E Nebot, A Rizzi, S SuganoTitle of proceedings
ICRA 2008 : IEEE International Conference on Robotics and AutomationUsage metrics
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