Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 7287, Issue , 2009, Pages

  Chen, Zheng ^a   Shatara, Stephan ^a   Tan, Xiaobo ^a  

^a Michigan State University   (United States)

Author keywords

Biologically inspired robots; Hydrodynamics; Ionic polymer metal composites; Modeling; Robotic fish

Indexed keywords

ACTUATION VOLTAGES; BIOLOGICALLY-INSPIRED ROBOTS; BIOMIMETIC ROBOTIC FISH; CAUDAL FINS; GEOMETRIC DIMENSIONS; IONIC POLYMER-METAL COMPOSITE ACTUATORS; IONIC POLYMER-METAL COMPOSITES; MODELING; OPTIMAL DESIGN; ROBOTIC FISH; ROBOTIC FISHES;

ACTUATORS; BIOMIMETICS; CONDUCTING POLYMERS; FINS (HEAT EXCHANGE); FISH; FLUID DYNAMICS; FUNCTIONAL POLYMERS; HYDRODYNAMICS; MEATS; METALS; ORGANIC CONDUCTORS; POLYMERS; ROBOTICS;

ROBOTS;

EID: 69849112940     PISSN: 0277786X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1117/12.815789     Document Type: Conference Paper

References (14)

1. G. V. Lauder and E. G. Drucker, "Morphology and experimental hydrodynamics of fish fin control surfaces, " IEEE Journal of Oceanic Engineering 29(3), pp. 556-571, 2004.
2. J. W. Paquette and K. J. Kim, "Ionomeric electroactive polymer artificial muscle for naval applications, " IEEE Journal of Oceanic Engineering 29(3), pp. 729-738, 2004.
3. M. Shahinpoor and K. Kim, "Ionic polymer-metal composites: I. Fundamentals, " Smart Materials and Structures 10, pp. 819-833, 2001.
4. X. Tan, D. Kim, N. Usher, D. Laboy, J.Jackson, A.Kapetanovic, J. Rapai, B. Sabadus, and X. Zhou, "An autonomous robotic fish for mobile sensing, " in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5424-5429, (Beijing, China), 2006.
5. K. A. Morgansen, B. I. Triplett, and D. J. Klein, "Geometric methods for modeling and control of freeswimming fin-actuated underwater vehicles, " IEEE Transactions on Robotics 23, pp. 1184-1199, December 2007.
6. P. Brunetto, L. Fortuna, S. Graziani, and S. Strazzeri, "A model of ionic polymer-metal composite actuators in underwater operations, " Smart Materials and Structures 17(2), pp. 1-12, 2008.
7. M. J. Lighthill, "Note on the swimming of slender fish, " Journal of Fluid Mechanics 9, pp. 305-317, 1960.
8. Z. Chen and X. Tan, "A control-oriented and physics-based model for ionic polymer-metal composite actuators, " IEEE/ASME Transactions on Mechatronics 13(5), pp. 519-529, 2008.
9. M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, "Review of fish swimming modes for aquatic locomotion, " IEEE Journal of Oceanic Engineering 24(2), pp. 237-252, 1999.
10. M. J. Lighthill, "Aquatic animal propulsion of high hydromechanical efficiency, " Journal of Fluid Mechanics 44, pp. 265-301, 1970.
11. J. E. Sader, "Frequency response of cantilever beams immersed in viscous fluids with applications to the atomic force micrscope, " Journal of Applied Physics 84(1), pp. 64-76, 1998.
12. P. Lu and K. Lee, "An alternative derivation of dynamic admittance matrix of piezoelectric cantilever bimorph, " Journal of Sound and Vibration 266, pp. 723-735, 2003.
13. Z. Chen, S. Shatara, and X. Tan, "Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite caudal fin, " IEEE Transactions on Robotics, 2008. under review.
14. S. Nemat-Nasser and J. Li, "Electromechanical response of ionic polymer-metal composites, " Journal of Applied Physics 87(7), pp. 3321-3331, 2000.