Modeling of a Caudal-fin-driven Robotic Fish with Buoyancy-adjusting System

被引：0

作者：

Deng, Heng ^{[1
]}

Cui, Rongxin ^{[1
]}

Hu, Haibao ^{[1
]}

Wei, Rongrong ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Shaanxi, Peoples R China

来源：

2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2017年

关键词：

biomimetic robotic fish; motion model; particle swarm optimization; parameter identification;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the dynamic model of a self-developed robotic fish propelled by a flexible caudal fin is presented. The robotic fish has a rigid body and a flexible caudal fin. The dynamic model is derived in accordance with the momentum and angular momentum theorem, and the 6 degree-of-freedoms (DOFs) model is built. To get the hydrodynamic parameters, the particle swarm optimization (PSO) method is employed. On this basis, the original 6 DOFs model is decoupled into horizontal and vertical models, whose effectiveness is confirmed by simulation and experiments. In final, experimental results are provided.

引用

页码：504 / 509

页数：6