Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish

Journal of Bionic Engineering

Volumn 7, Issue 1, 2010, Pages 35-48

  Liu, Jindong ^a   Hu, Huosheng ^a  

^a UNIVERSITY OF ESSEX   (United Kingdom)

Author keywords

carangiform fish; fish swimming behaviour; multi joint robot; robotic fish

Indexed keywords

APPROXIMATION ERROR FUNCTIONS; APPROXIMATION METHODS; BODY MOTIONS; ERROR FUNCTION; FISH LIKE SWIMMING; FISH SWIMMING; LOOK UP TABLE; MOTION FUNCTION; MULTI-JOINT; MULTI-JOINT ROBOTS; ONLINE OPTIMIZATION; ROBOTIC FISH; ROBOTIC FISHES; SWIMMING MOTION; TIME-DEPENDENT FUNCTIONS; TURNING ANGLES;

APPROXIMATION THEORY; MEATS; MOTION CONTROL; MOTION PLANNING; ROBOTICS; ROBOTS; TABLE LOOKUP; TURNING;

FISH;

EID: 77950191838     PISSN: 16726529     EISSN: None     Source Type: Journal    
DOI: 10.1016/S1672-6529(09)60184-0     Document Type: Article

References (27)

1. Anderson J M, Kerrebrock P A. The vorticity control unmanned undersea vehicle (VCUUV): An autonomous robot tuna. Proceedings of 10th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, USA, 1997, 63-70.
2. Nato N. Control performance in the horizontal plane of a fish robot with mechanical pectoral fins. IEEE Journal of Oceanic Engineering 25 (2000) 121-129
3. Witting J., Safak K., and Adams G. Shape memory alloy actuators applied to biomimetic underwater robots. In: Ayers J., Davis J., and Rudolph A. (Eds). Neurotechnology for Biomimetic Robots (2001), MIT Press, USA 117-136
4. Liang J., Wang T., Wei H., and Tao W. Researchful development of underwater robofish II: Development of a small experimental robofish. Robot 24 (2002) 234-238 (in Chinese).
5. Yu J., Wang S., and Tan M. A simplified propulsive model of biomimetic robot fish and its realization. Robotica 23 (2005) 101-107
6. Guo S, Fukuda T, Kato N, Oguro K. Development of underwater microprobe using IMPF actuator. Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, 1829-1834.
7. National Maritime Research Institute. Welcome to Fish Robot Home Page, [2000-09-01]. http://www.nmri.go.jp/eng/khirata/fish/
8. Mitsubishi Heavy Industries Ltd News. MHI to Produce First Lifelike Robotic Fish Available on Market, [2001-01-19]. http://www.mhi.co.jp/en/news/sec1/e_0898.html
9. Nagrath S., Sequist L.V., Maheswaran S., Bell D.W., Irimia D., Streitlien K., Triantafyllou G.S., and Triantafyllou M.S. Efficient foil propulsion through vortex control. AIAA Journal 34 (1996) 2315-2319
10. Barrett D, Grosenbaugh M, Triantafyllou M. The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil. Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, USA, 1996, 1-9.
11. Anderson J M. Vorticity Control for Efficient Propulsion, PhD Dissertation, Massachusetts Institute of Technology, 1996.
12. Morganse K.A., Duindam V., Mason R.J., Burdick J.W., and Murray R.M. Nonlinear control methods for planar carangiform robot fish locomotion. Proceeding of IEEE International Conference on Robotics and Automation 1 (2001) 427-434
13. Lauder G.V., and Drucker E.G. Morphology and experimental hydrodynamics of fish fin control surfaces. IEEE Journal of Oceanic Engineering 29 (2004) 556-571
14. Low K.H., and Willy A. Biomimetic motion planning of an undulating robotic fish fin. Journal of Vibration and Control 12 (2006) 1337-1359
15. Mchenry M.J., Pell C.A., and Long Jr. J.H. Mechanical control of swimming speed: Stiffness and axial wave form in undulating fish models. The Journal of Experimental Biology 198 (1995) 2293-2305
16. Hu T., Shen L., Lin L., and Xu H. Biological inspirations, kinematics modeling, mechanism design and experiments on an undulating robotic fin inspired by Gymnarchus niloticus. Mechanism and Machine Theory 44 (2008) 633-645
17. Anderson J.M., Streitlien K., Barrett D.S., and Triantafyllou M.S. Oscillating foils of high propulsive efficiency. Journal Fluid Mechanics 360 (1998) 41-72
18. Zhao W, Yu J, Fang Y, Wang L. Development of multi-mode biomimetic robotic fish based on central pattern generator. Proceedings of International Conference of Intelligent Robots and Systems, Beijing China, 2006, 3891-3896.
19. Yu J., Chen E., Wang S., and Tan M. Research evolution and analysis of biomimetic robot fish. Journal of Control Theory and Application 24 (2002) 169-174
20. Liu J, Dukes L, Knight R, Hu H. Development of fish-like swimming behaviours for an autonomous robotic fish. Proceedings of the Control, University of Bath, UK, 2004, 217.
21. Sfakiotakis M. Review of fish swimming modes for aquatic locomotion. IEEE Journal of Oceananic Engineering 24 (1999) 237-252
22. Lighthill M.J. Note on the swimming of slender fish. Journal of Fluid Mechanics 9 (1960) 305-317
23. Triantafyllou M., and Triantafyllou G. An efficient swimming machine. Scientific American Magazine 272 (1995) 40-46
24. Liu J, Gu D, Hu H. Reinforcement learning for autonomous robotic fish. In: Nedjah N, dos Santos Coelho C L, de Macedo Mourelle L (eds). Mobile Robots: The Evolutionary Approach, Springer, Berlin/Heidelberg, Germany, 121-135.
25. Liu J, Hu H. Mimicry of sharp turning behaviours in a robotic fish. Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain, 3329-3334.
26. Spierts I., and Leeuwen J.L.V. Kinematics and muscle dynamics of C- and S-starts of carp (Cyprinus carpio L.). Journal of Experimental Biology 202 (1999) 393-406
27. Gumstix C. Gumstix-Way Small Computing, [2009-09-24]. http://www.gumstix.com