Swimming Speed Control and on-board Flow Sensing of an Artificial Trout
This paper describes a sensing-actuation coupling of a robotic trout that detects changes of the laminar flow speed using an on-board pressure sensor and adjusts its tail-beat frequency for steady swimming. The caudal fin actuator closely mimics the morphology of a real trout, in particular the geometry, stiffness and stiffness distribution of the body and the caudal fin. We hypothesize that the linear relationship between the tail-beat frequency and speed, well-known and proven to hold for all fish studied so far, also holds for an artificial fish. We validate the hypothesis and use the results to derive a linear control law to adjust the tailbeat frequency to the swimming speed. We use an onboard pressure sensor to detect the flow speed and test the actuation in a controlled hydrodynamic environment in a flow pipe.
Maarja Kruusmaa Gert Toming Taavi Salum(a)e Jaas Je(z)ov Andres Ernits
Center for Biorobotics,Tallinn University of Technology,Tallinn,Estonia
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1791-1796
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）