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
Keyword(s):  
Horizontal Plane ◽  
Control Performance ◽  
Fish Robot ◽  
Pectoral Fins

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

2009 ◽  
Vol 6 (1) ◽  
pp. 37-45 ◽  
Author(s):  
Patar Ebenezer Sitorus ◽  
Yul Yunazwin Nazaruddin ◽  
Edi Leksono ◽  
Agus Budiyono
Keyword(s):  
Fish Robot ◽  
Pectoral Fins ◽  
Design And Implementation

Fundamental Control for a Manta-Like Fish Robot

2015 ◽  
pp. 153-167
Author(s):  
Masaaki Ikeda ◽  
Keigo Watanabe ◽  
Isaku Nagai
Keyword(s):  
Fluid Dynamics ◽  
Numerical Simulations ◽  
Propulsive Force ◽  
Robot System ◽  
Fish Robot ◽  
Pectoral Fins ◽  
Constant Angle ◽  
Fin Rays

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.

Fundamental Control for a Manta-Like Fish Robot

2019 ◽  
pp. 929-943
Author(s):  
Masaaki Ikeda ◽  
Keigo Watanabe ◽  
Isaku Nagai
Keyword(s):  
Fluid Dynamics ◽  
Numerical Simulations ◽  
Propulsive Force ◽  
Robot System ◽  
Fish Robot ◽  
Pectoral Fins ◽  
Constant Angle ◽  
Fin Rays

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.

Mobile Operations Performed by Mobile Manipulators on Irregular Terrain - Torque Compensation Using Neural Networks for Disturbance Torques Produced by Irregular Terrain -

1998 ◽  
Vol 10 (5) ◽  
pp. 377-386 ◽  
Author(s):  
Mamoru Minami ◽  
◽  
Masatoshi Hatano ◽  
Toshiyuki Asakura ◽  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Adaptive Control ◽  
Control System ◽  
Horizontal Plane ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Adaptive Control System ◽  
Control Performance ◽  
Irregular Terrain

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.

scholarly journals The Role of the Fins in the Equilibrium of the Swimming Fish

1936 ◽  
Vol 13 (4) ◽  
pp. 476-493 ◽  
Author(s):  
J. E. HARRIS
Keyword(s):  
Wind Tunnel ◽  
Horizontal Plane ◽  
Vertical Plane ◽  
The Body ◽  
Pectoral Fins ◽  
Two Factors ◽  
Air Speed ◽  
Mustelus Canis ◽  
Relationship Of ◽  
The Relationship

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.

Modeling and Simulation of Turning Characteristic of Batoid

2013 ◽  
Vol 380-384 ◽  
pp. 232-236
Author(s):  
Chao Tang ◽  
Sheng Jun Shi ◽  
Wei Shan Chen
Keyword(s):  
Numerical Simulation ◽  
Modeling And Simulation ◽  
Dynamic Model ◽  
Fish Robot ◽  
Marine Research ◽  
Kinematics Model ◽  
Pectoral Fins ◽  
Underwater Environment ◽  
Turning Motion

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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