Control performance in the horizontal plane of a fish robot with mechanical pectoral fins

2000 ◽  
Vol 25 (1) ◽  
pp. 121-129 ◽  
Author(s):  
N. Kato

2009 ◽  
Vol 6 (1) ◽  
pp. 37-45 ◽  
Author(s):  
Patar Ebenezer Sitorus ◽  
Yul Yunazwin Nazaruddin ◽  
Edi Leksono ◽  
Agus Budiyono


Author(s):  
Masaaki Ikeda ◽  
Keigo Watanabe ◽  
Isaku Nagai

This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.



2019 ◽  
pp. 929-943
Author(s):  
Masaaki Ikeda ◽  
Keigo Watanabe ◽  
Isaku Nagai

This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.



1998 ◽  
Vol 10 (5) ◽  
pp. 377-386 ◽  
Author(s):  
Mamoru Minami ◽  
◽  
Masatoshi Hatano ◽  
Toshiyuki Asakura ◽  

In the present study, we propose a control system for mobile operations of mobile manipulators traveling on irregular terrain. Irregularities exist even in structures such as man-made floors of factories and buildings. Since the hand of a mobile manipulator is often required to operate precisely while traveling on irregular terrain and it is subject to disturbance torques caused by traveling on terrain, a method for decreasing control errors caused by disturbances due to terrain must be considered. In the present paper, an adaptive control system including a compensator that uses a neural network, i.e., a neuro adaptive control system, is proposed. In addition, we discuss the control performance of the proposed control system, and show that the control system can decrease control errors occurring on irregular terrain to the levels of errors that occur while traveling on a horizontal plane.



1936 ◽  
Vol 13 (4) ◽  
pp. 476-493 ◽  
Author(s):  
J. E. HARRIS

1. An attempt was made to determine the relationship of the fins to the equilibrium of the swimming dogfish. 2. Two factors at least are involved in this equilibrium; passive mechanical forces and reflex motions of the fins themselves. The part played by the automatic (passive) components was estimated by experimenting on a model of Mustelus canis mounted in a wind tunnel tested at a suitable air speed. 3. The equilibrium in the horizontal plane (yawing equilibrium--for turning movements) is unstable without fins, completely stable only in the absence of the first dorsal fin, and is neutral when all fins are present. 4. In the vertical plane (pitching equilibrium--for rising and diving turns) the equilibrium is unstable without fins, and this instability is greatly increased by the presence of the pectorals. The pelvics have little or no effect. 5. Stability and controllability are inversely related. The fish is comparatively stable in the horizontal plane, extremely controllable in the vertical plane. This fact is closely related to the flexibility of the body for lateral movements. 6. The results obtained in the wind tunnel were confirmed by amputation of the fins of the living dogfish. 7. The normal equilibrium of the swimming dogfish in the vertical plane is determined largely by the pectoral fins and the heterocercal tail. 8. The relationship of these facts to the problem of the evolution of the swimming chordates is considered.



2013 ◽  
Vol 380-384 ◽  
pp. 232-236
Author(s):  
Chao Tang ◽  
Sheng Jun Shi ◽  
Wei Shan Chen

With the upsurge of marine research coming, research of the bionic fish robot is imperative. In numerous kinds of fish, batoid as the representative of the undulating pectoral fins fish are characterized by maneuverability which adapted to the complex underwater environment. This paper establishes entity model, kinematics model and dynamic model of batoid, uses means of numerical simulation to realize batoid turning in the water , and then plans turning motion of batoid. For this simulation, trajectory which is very close to the turning of real batoid is obtained to prove our modeling and simulation correct.



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