Abstract
This paper focuses on the hierarchical control system of previously developed robotic stingray that consists of PC, DSP and bottom controller, achieved direction control and velocity control of the biomimetic stingray like propulsor. Finally, an experiment was carried out to investigate the influence of fin kinematic parameters (such as frequency, amplitude and wavelength) on propulsion speed of the stingray, followed by variance analysis. The experimental results illustrate that the biomimetic stingray like propulsor works well under the control of the hierarchical control system.
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