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This paper 1, presents a novel approach for realizing Carangiform fish swimming patterns by a robotic fish. A video recording system is first set up to capture real fish behaviors. From robotic perspective, three basic Carangiform fish swimming patterns, “cruise”, “cruise in turning”, and “C sharp turning”, are extracted. Base on observations, the mapping between the fish action parts (angular displacements)...
In this paper 1, a motion library and associated control strategies for collision-free motion planning are presented for a biomimetic robotic fish. The Anguilliform robotic fish consists of N links and N − 1 joints. Three major gaits of Anguilliform fish—forward moving, backward moving and turning—are investigated. By giving different reference to joint angles, such as adding reversed phase difference,...
Piezoelectric motor is widely used for motion control such as hard disk drives, AUV, and mechatronics. This work1, presents a framework for the design and performance analysis of sampled-data iterative learning control (ILC) for piezoelectric motor. The design and analysis are carried out in the frequency domain. Monotonic convergence criterion is used in ILC design. Four ILC designs associated with...
In this paper, measures to resist parameter uncertainties and external disturbances are presented for a biomimetic robotic fish. The Carangiform robotic fish consists of N links and N − 1 joints, and its dynamic model of motion is given in previous work [1]. Through this model, the relation between the motion of the fish and the torques added are constructed. By giving particular reference angles...
In this paper 1, different locomotion patterns design and measures to resist parameter uncertainties are presented for a biomimetic robotic fish. The Anguilliform robotic fish consists of N links and N − 1 joints, and its dynamic model is given in previous work [1]. Using this model, three major gaits of Anguilliform fish—forward moving, backward moving and turning—are investigated. We find that by...
In this paper, the modeling and control of a biomimetic robotic fish is presented. The Anguilliform robotic fish consists of N links and N−1 joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the dynamics of the fish model. The computed torque method is applied, which can provide satisfactory tracking responses...
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