An Analytical Approach for Better Swimming Efficiency of Slender Fish Robots Based on Lighthill’s Model

摘要：

In this initial work, we discuss the application of Lighthills small-amplitude elongated body theory (EBT) in improving the swimming efficiency. The prototype considered in the study is a slender fish model capable of performing various motion patterns. The mechanical design of the prototype, derivation of equations and the results are first discussed. We apply a body motion function with linear envelop to control the swimming of fish robot. We also study the influence of different combinations of amplitudes and frequencies on the swimming performance. The analysis shows that a high frequency with low amplitude mode is better at a given power consumption. Different definitions of swimming efficiency in robotic fishes are also discussed. By virtue of the current off-line based approach, a closed-loop swimming control method and an on-line swimming gait planning scheme are suggested.

作者: Chunlin Zhou K. H. Low C. W. Chong

作者单位: Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1651-1655

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）