scholarly journals Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
M. O. Afolayan ◽  
D. S. Yawas ◽  
C. O. Folayan ◽  
S. Y. Aku
Keyword(s):  
Robotic Fish ◽  
Biologically Inspired ◽  
Redundant Robot ◽  
Critical Part ◽  
Joint Mechanism ◽  
Biomimetic Robotic Fish ◽  
Computerized Simulation ◽  
Turning Radius ◽  
Minimum Turning Radius ◽  
Biologically Inspired Robot

A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved.

Control and Implementation of S-start for a Multijoint Biomimetic Robotic Fish

2013 ◽  
Vol 39 (11) ◽  
pp. 1914 ◽  
Author(s):  
Zheng-Xing WU ◽  
Jun-Zhi YU ◽  
Zong-Shuai SU ◽  
Min TAN
Keyword(s):  
Robotic Fish ◽  
Biomimetic Robotic Fish

Optimal design and motion control of biomimetic robotic fish

2008 ◽  
Vol 51 (5) ◽  
pp. 535-549 ◽  
Author(s):  
JunZhi Yu ◽  
Long Wang ◽  
Wei Zhao ◽  
Min Tan
Keyword(s):  
Optimal Design ◽  
Motion Control ◽  
Robotic Fish ◽  
Biomimetic Robotic Fish

Tail-Enabled Spiraling Maneuver for Gliding Robotic Fish

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Feitian Zhang ◽  
Fumin Zhang ◽  
Xiaobo Tan
Keyword(s):  
Newton’S Method ◽  
Newton's Method ◽  
Three Dimensional ◽  
Relative Equilibria ◽  
Basins Of Attraction ◽  
Robotic Fish ◽  
Experimental Results ◽  
Underwater Gliders ◽  
Local Asymptotic Stability ◽  
Turning Radius

Gliding robotic fish, a new type of underwater robot, combines both strengths of underwater gliders and robotic fish, featuring long operation duration and high maneuverability. In this paper, we present both analytical and experimental results on a novel gliding motion, tail-enabled three-dimensional (3D) spiraling, which is well suited for sampling a water column. A dynamic model of a gliding robotic fish with a deflected tail is first established. The equations for the relative equilibria corresponding to steady-state spiraling are derived and then solved recursively using Newton's method. The region of convergence for Newton's method is examined numerically. We then establish the local asymptotic stability of the computed equilibria through Jacobian analysis and further numerically explore the basins of attraction. Experiments have been conducted on a fish-shaped miniature underwater glider with a deflected tail, where a gliding-induced 3D spiraling maneuver is confirmed. Furthermore, consistent with model predictions, experimental results have shown that the achievable turning radius of the spiraling can be as small as less than 0.4 m, demonstrating the high maneuverability.

A Multi-Purpose Off-Line Path Planner Based on an A* Search Algorithm

1996 ◽  
Author(s):  
Arturo L. Rankin ◽  
Carl D. Crane
Keyword(s):  
Search Algorithm ◽  
Piecewise Linear ◽  
Autonomous Mobile Robot ◽  
Linear Path ◽  
Shortest Distance ◽  
Computer Controlled ◽  
Turning Radius ◽  
Minimum Turning Radius ◽  
Path Planner ◽  
Line Path

Abstract Efficient navigation of an autonomous mobile robot through a well-defined environment requires the ability of the robot to plan paths. An efficient and reliable planar off-line path planner has been developed that is based on the A* search method. Using this method, two types of planning are accomplished. The first uses a map of all known obstacles to determine the shortest-distance path from a start to goal configuration. The second determines the shortest path along a network of predefined roads. For the most complicated environment of obstacles and roads, a near-optimal piecewise-linear path is found within a few seconds. The planner can generate paths for robots capable of rotation about a point as well as car-like robots that have a minimum turning radius. For car-like robots, the planner can generate forward and reverse paths. This software is currently implemented on a computer controlled Kawasaki Mule 500 all-terrain vehicle and a computer controlled John Deere 690 excavator.

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