Development and initial investigation of NTU robotic fish with modular flexible fins

IEEE International Conference on Mechatronics and Automation, ICMA 2005

Volumn , Issue , 2005, Pages 958-963

  Low, K H ^a   Willy, A ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Amplitude envelope; Biomimetics; Experiments; Linkages; Swimming mode; Underwater robot; Undulating fins

Indexed keywords

BIOMIMETIC MATERIALS; EXPERIMENTS; MATHEMATICAL MODELS; STRUCTURAL DESIGN;

AMPLITUDE ENVELOPE; LINKAGES; SWIMMING MODE; UNDERWATER ROBOTICS; UNDULATING FINS;

ROBOTICS;

EID: 27744570352     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (27)

1. S. Vogel, "Cat's Paws and Catapults", W.W Norton, New York, 1998.
2. st Int. Sym. on Aqua Bio-Mechanisms, N. Kato and Y. Suzuki, Eds., Tokai University Pacific Center, 3-12, Hawaii, 2000.
3. Underwater Robot Launched from Bermuda to Cross Gulf Stream, http://www.whoi.edu/mr/, Mar 2005.
4. RoboTuna, http://web.mit.edu/towtank/www/Tuna/tuna.html, Mar 2005.
5. R. Mason and J. W. Burdick, "Construction and Modeling of a Carangiform Robotic Fish", in Proc. of the Int. Conf. Experimental Robotics, Sydney, Australia, 1999.
6. R. Mason and J. W. Burdick, "Experiments in Carangiform Robotic Fish Locomotion", in Proc. of the IEEE Int. Conf. Robotics and Automation, San Francisco, 2000.
7. The Robot Fish, http://cswww.essex.ac.uk/Research/roboticfish/, Mar 2005.
8. MHI to Produce First Lifelike Robotic Fish Available on Market, http://www.mhi.co.jp/enews/e_0898.html, Jan 2001.
9. China Develops Fish-shaped Robot for Underwater Archeological Research, http://English.people.com.cn, Dec 2004.
10. A. Willy and K. H. Low, "Development and Initial Experiment of Modular Undulating Fin for Untethered Biorobotic AUVs", in Proc. of the Int. IEEE Conf. Robotics and Biomimetics (ROBIO05), Hong Kong, 2005, accepted.
11. C. M. Breder, "The Locomotion of Fishes", Zoologica, vol. 4, 159-297, 1926.
12. M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, "Review of Fish Swimming Modes for Aquatic Locomotion", IEEE Journal of Oceanic Engineering, vol. 24, 237-252, 1999.
13. Fish swimming gaits, http://www.ece.eps.hw.ac.uk/Research/oceans/ projects/flaps/mpfmodes.htm, Jan 2005.
14. Malcolm A. MacIver and Mark E. Nelson, "Towards a Biorobotic Electrosensory System," Autonomous Robots, vol. 11, 263-266, 2001.
15. Malcolm A. MacIver, Ebraheem Fontaine, and Joel W. Burdick, "Designing Future Underwater Vehicles: Principles and Mechanisms of the Weakly Electric Fish," IEEE Journal of Oceanic Engineering, vol. 29, 651-659, 2004.
16. W. M. Kier and J. T. Thompson, "Muscle Arrangement, Function and Specialization in Recent Coleoids", in Proc. of Coleoid Caphalopods through Time, vol. 3, 141-162, Berlin, Sep 2002.
17. nd ed., 1-20, New York: Harper Collins, 1993.
18. P. W. Webb, "Maneuverability - General Issues", IEEE Journal of Oceanic Engineering, vol. 29, 547-555, 2004.
19. A. Willy and K. H. Low, "Initial Experimental Investigation of Undulating Fin", in Proc. of the Int. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS05), Edmonton, Canada, 2005, accepted.
20. M. J. Lighthill, "Large-amplitude Elongated-body Theory of Fish Locomotion", Proc. R. Soc. Lond. A, vol. 179, 125-138, 1971.
21. th Int. Sym. of Unmanned Untethered Submersible Technology, New Hampshire, 2003.
22. M. Sfakiotakis, D. M. Lane, and B. C. Davies, "An Experimental Undulating-fin Device using the Parallel Bellows Actuator", in Proc. of the IEEE Int. Conf. Robotics and Automation, 2356-2360, Seoul, 2001.
23. M. A. MacIver, E. Fontaine, and J. W. Burdick, "Designing Future Underwater Vehicles: Principles and Mechanism of a Weakly Electric Fish", IEEE Journal of Oceanic Engineering, vol. 29, 651-659, 2004.
24. S. Johnsen and W. M. Kier, "Intramuscular Crossed Connective Tissue Fibers: Skeletal Support in the Lateral Fins of Squid and Cuttlefish (Mollusca: Caphalopoda)", J. Zool. Lond., vol. 231, 311-338, 1993.
25. J. W. Paquette and K. J. Kim, "Ionomeric Electroactive Polymer Artificial Muscle for Naval Applications", IEEE Journal of Oceanic Engineering, vol. 29, 729-737, 2004.
26. A. Punning, M. Anton, M. Kruusmaa, and A. Aabloo, "A Biologically Inspired Ray-like Underwater Robot with Electroactive Polymer Pectoral Fins", in Proc. of the Int. IEEE Conf. Mechatronics and Robotics 2004 (MechRob'04), vol. 2, 241-245, Aachen, 2004.
27. S. Guo, T. Fukuda, and K. Asaka, "A New Type of Fish-like Underwater Microrobot", IEEE/ASME Trans. on Mechatronics, vol. 8, Issue 1, 136-141, 2003.