A novel underactuated wire-driven robot fish with vector propulsion
Refereed conference paper presented and published in conference proceedings


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AbstractThis paper presents a novel robot fish with vector propulsion. It can swim like a shark and/or a dolphin. The propulsor (tail) of the robot has an underactuated serpentine backbone and the actuation is done by two sets of orthogonally distributed wires. The backbone is composed of seven vertebras and an elastic rod. The vertebras are articulated by the rod and spherical joints. The horizontal flapping and vertical flapping are independently actuated by two motors. This enables the propulsor providing thrust in all directions. Propulsion model of the propulsor is developed by integrating the kinematic model and Lighthill's elongated body theory. A prototype is built. Tests show that the robot fish could flap its tail like the shark or the dolphin effectively. In the swimming tests, the maximum swimming speed of the robot is 0.35 BL/s. © 2013 IEEE.
All Author(s) ListLi Z., Zhong Y., Du R.
Name of Conference2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Start Date of Conference03/11/2013
End Date of Conference08/11/2013
Place of ConferenceTokyo
Country/Region of ConferenceJapan
Year2013
Month12
Day1
Pages941 - 946
ISBN9781467363587
ISSN2153-0858
LanguagesEnglish-United Kingdom

Last updated on 2021-09-05 at 00:24