Exploring the backward swimming ability of a robotic fish : Combining modelling and experiments

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2016
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Wang, Chen
Fan, Ruifeng
Xie, Guangming
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International Journal of Advanced Robotic Systems (IJARS). Sage Publications. 2016, 13(5). ISSN 1729-8806. eISSN 1729-8814. Available under: doi: 10.1177/1729881416669483
Zusammenfassung

This article investigates the capability for backward swimming of a carangiform-fish-like robot with only three joints. A simple dynamic model based on a fixed point, a point in the body without perpendicular oscillation, is first developed to analyze the feasibility of backward motion for the robot. Through this theoretical analysis, we find that the fixed point lies closer to the robotic fish tail with higher backward swimming speeds. Combining the theoretical analysis with experimental optimization, we further explore backward swimming patterns using particle swarm optimization. After a series of online optimal experiments, we find several locomotion gaits that can make the robotic fish swim backward, and the corresponding fixed points are similarly located near the tail. The backward swimming velocity is strongly correlated with the fixed point position along the robotic fish body, which verifies the effectiveness of our fixed-point model.

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570 Biowissenschaften, Biologie
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Backward swimming ability, fixed-point model, optimization, robotic fish
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ISO 690LI, Liang, Chen WANG, Ruifeng FAN, Guangming XIE, 2016. Exploring the backward swimming ability of a robotic fish : Combining modelling and experiments. In: International Journal of Advanced Robotic Systems (IJARS). Sage Publications. 2016, 13(5). ISSN 1729-8806. eISSN 1729-8814. Available under: doi: 10.1177/1729881416669483
BibTex
@article{Li2016-10-24Explo-51083,
  year={2016},
  doi={10.1177/1729881416669483},
  title={Exploring the backward swimming ability of a robotic fish : Combining modelling and experiments},
  number={5},
  volume={13},
  issn={1729-8806},
  journal={International Journal of Advanced Robotic Systems (IJARS)},
  author={Li, Liang and Wang, Chen and Fan, Ruifeng and Xie, Guangming}
}
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