Design of a Biomimetic Robotic Fish Controlled by a Touch Screen

Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing ◽

10.1115/dscc2014-5842 ◽

2014 ◽

Author(s):

Paul Phamduy ◽

Raymond Le Grand ◽

Maurizio Porfiri

Keyword(s):

Informal Learning ◽

Science Learning ◽

Swimming Performance ◽

Three Dimensional ◽

Touch Screen ◽

Robotic Fish ◽

Performance Tests ◽

Increasing Trend ◽

Biomimetic Robotic Fish ◽

Buoyancy Control

Biomimetic robotic fish exhibits have been an attraction for many visitors in informal learning settings. Although these exhibits are entertaining to the visitors, they generally lack interactive components to promote participants’ engagement. Interactivity in exhibits is an increasing trend in public educational venues, and is a crucial factor for promoting science learning among participants. In this work, we propose a novel platform for enhancing participant interaction through a robotic fish controlled by a touch screen device. Specifically, we develop and characterize a robotic fish based on a multi-link design with a pitch and buoyancy control system for three-dimensional biomimetic swimming. Performance tests are conducted to assess the robotic fish speed.

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Dynamic Modeling of Three-Dimensional Swimming for Biomimetic Robotic Fish

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2006.281823 ◽

2006 ◽

Cited By ~ 6

Author(s):

Lizhong Liu ◽

Junzhi Yu ◽

Long Wang

Keyword(s):

Dynamic Modeling ◽

Three Dimensional ◽

Robotic Fish ◽

Biomimetic Robotic Fish

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FSI Analysisof Carangiform Three Dimensional Multi-Link Biomimetic Robotic Fish

Afyon Kocatepe University Journal of Sciences and Engineering ◽

10.5578/fmbd.54139 ◽

2017 ◽

Vol 17 (2) ◽

pp. 825-833 ◽

Cited By ~ 1

Author(s):

Seda Yetkin ◽

Gonca Ozmen Koca ◽

Mustafa Ay ◽

Zuhtu Hakan Akpolat ◽

Cafer Bal

Keyword(s):

Three Dimensional ◽

Robotic Fish ◽

Biomimetic Robotic Fish

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Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2015.7418780 ◽

2015 ◽

Cited By ~ 1

Author(s):

Jun Yuan ◽

Junzhi Yu ◽

Zhengxing Wu ◽

Min Tan

Keyword(s):

Swimming Performance ◽

Robotic Fish ◽

Biomimetic Robotic Fish ◽

Oscillator Phase ◽

Phase Differences

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Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

Electronics ◽

10.3390/electronics7070118 ◽

2018 ◽

Vol 7 (7) ◽

pp. 118 ◽

Cited By ~ 6

Author(s):

Mustafa Ay ◽

Deniz Korkmaz ◽

Gonca Ozmen Koca ◽

Cafer Bal ◽

Zuhtu Akpolat ◽

...

Keyword(s):

Rigid Body ◽

Control Mechanism ◽

Control Structure ◽

Swimming Performance ◽

Three Dimensional ◽

Design Procedure ◽

Robotic Fish ◽

Mechatronic Design ◽

Design And Manufacturing ◽

Biomimetic Approach

This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs-1 and excellent three-dimensional swimming performance is obtained.

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LEARNING FROM GYMNOTIFORM SWIMMERS — DESIGN AND IMPLEMENTATION OF ROBOTIC KNIFEFISH NKF-II

International Journal of Information Acquisition ◽

10.1142/s0219878908001557 ◽

2008 ◽

Vol 05 (02) ◽

pp. 137-147 ◽

Cited By ~ 3

Author(s):

K. H. LOW ◽

CHUNLIN ZHOU ◽

GERALD G. L. SEET ◽

JUNZHI YU

Keyword(s):

Morphological Structure ◽

Robotic Fish ◽

Robot System ◽

Propulsion Mechanism ◽

Swimming Motion ◽

Flexible Fin ◽

Biomimetic Robotic Fish ◽

Undulatory Swimming ◽

Undulating Fin ◽

Buoyancy Control

Gymnotiform swimmer uses single undulating anal fin below the rigid body as the propulsor. This special morphological structure is generally thought to have advantages in reducing the friction drag in undulatory movements. The finned body form and the undulatory swimming gait give the inspiration to the design of underwater robot. We have developed a robotic fish (Nanyang KnifeFish, NKF-I), which learns from a Gymnotiform swimmer: Black Ghost Knifefish. A new version of biomimetic robotic fish (NKF-II) is presented in this paper. To mimic the actual flexible fin of real fish, an optimized fin-like propulsion mechanism is modelled with a series of connecting linkages for enhancing its propulsive performance. Workspace of the proposed mechanism is studied and optimized. Swimming motion function is also established for the planning of the undulatory gait movement. The manoeuvrability and buoyancy control has also been achieved by the integration of mechatronics design of a buoyancy module with the undulating fin. The design philosophy of modularity has also been incorporated into the design of the fish. Hence, the modularity of the prototypes not only provides versatility for the robot system and also facilitates in the maintenance and future development of fish with undulating fins/body, as new modules can be added to replace the existing modules easily. By reconfiguring the components of NKF-II, other version of robotic fish with undulating fins/body is derived. This evolution of the undulating fins is also discussed.

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