Optimal design and motion control of biomimetic robotic fish

This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.

Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.

3-D Locomotion control for a biomimetic robot fish

This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively. Finally, experiments and analyses on a 4-link, radio-controlled robot fish prototype with 3-D locomotion show its good performance.

Design and Realization of a Novel Hybrid-Drive Robotic Fish for Aquaculture Water Quality Monitoring

Thunniform swimmers(tuna)have a swinging narrow sequence stalk and a moon-shaped tail fin,which performs poorly at slow speed,higher acceleration and turning maneuverability.In most cases,faster speed and higher maneuverability are mutually rejection for most marine creatures and their robotic opponents.This paper presents a novel hybrid tuna-like swimming robot for aquaculture water quality monitoring,which interleaves faster speed and higher maneuverability.The robotic prototype emphasizes on streamlining and enhanced maneuverability mechanism designs in conjunction with a narrow caudal propeller to the tail.The innovative design endows the robot to easily execute the multi-mode swimming gait,including forward swimming,turning,diving/surfacing.The capabilities of our robot are validated through a series of indoor swimming pool and field breeding ponds.The robotic fish can achieve a maximum speed up to about 1.16 m/s and a minimum turning radius less than 0.46 Body Lengths(BL)and its maximum turning speed can reach 78.6∘/s.Due to its high speed,maneuverability and relatively small size,the robotic fish shed light on intelligent monitoring in complex aquatic environments.

On the thrust performance of an ionic polymer-metal composite actuated robotic fish: Modeling and experimental investigation

In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite （IPMC） actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3x10-3 at 1 Hz was recorded experi- mentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.

MODELING AND CONTROL DESIGN OF AN ANGUILLIFORM ROBOTIC FISH

In this paper,the modeling and control design of a biomimetic robotic fish is presented.The Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the joints.Considering kinematic constraints,Lagrangian formulation is used to obtain the dynamics of the fish model.The computed torque control method is applied first,which can provide satisfactory tracking responses for fish joints.Since this robotic fish is essentially an underactuated system,the reference trajectories for the orientation of the N links are planned in such a way that,at a neighborhood of the equilibrium point,the tracking task of N angles can be achieved by using N−1 joint torques.To deal with parameter uncertainties that exist in the actual environment,sliding mode control is adopted.Considering feasibility and complexity issues,a simplified sliding mode control algorithm is given.A four-link robotic fish is modeled and simulated,and the results validate the effectiveness of reference planning and the proposed controllers.

Design,Modeling,and Control of Biomimetic Fish Robot:A Review

A comprehensive review on bio-inspired fish robots has been done in this article with an enhanced focus on swimming styles,actuators,hydrodynamics,kinematic-dynamic modeling,and controllers.Swimming styles such as body and/or caudal fin and median and/or paired fin and their variants are discussed in detail.Literature shows that most fish robots adapt carangiform in body and/or caudal fin type swimming as it gives significant thrust with a maximum speed of 3.7 ms 1 in iSplash-II.Applications of smart or soft actuators to enhance real-time dynamics was studied from literature,and it was found that the robot built with polymer fiber composite material could reach a speed of 0.6 m s However,dynamic modeling is relatively complex,and material selection needs to be explored.The numerical and analytical methods in dynamic modeling have been investigated highlighting merits and demerits.Hydrodynamic parameter estimation through the data-driven model is widely used in offline,however online estimation of the same need to be explored.Classical controllers are frequently used tor navigation and stabilization,which often encounters the linearization problem and hence,can be replaced with the state-of-the-art adaptive and intelligent controller.This article also summarizes the potential research gaps and future scopes.

Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking

This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.

Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

Due to the unique locomotion,the head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear locomotion,which strongly hinders its practical applications.In this paper,we experimentally study this problem by proposing the method of coordination control between the caudal fin and anal fin.First,an untethered biomimetic robotic fish,equipped with an anal fin,a caudal fin and two pectoral fins,is developed as the experimental platform.Second,a Central Pattern Generator(CPG)-based controller is used to coordinate the motions of the anal fin and caudal fin.Third,extensive experiments are conducted to explore different combinations of the flapping frequencies,the flapping amplitudes,and the phase differences between the anal fin and caudal fin.Notably,through proper control of the anal fin,the amplitude of the yaw motion can be as small as 4.32°,which sees a 65%improvement compared to the scenario without anal fin,and a 57%improvement compared to that with a stationary anal fin.This paper provides a novel way to alleviate the head-shaking problem for biomimetic robotic fish,and first test this method on an untethered,freely swimming robotic platform,which can shed light on the development of underwater robotics.