Abstract
Transient shape control of an artificial, actively actuated fishtail is considered to acquire an efficient, natural-like underwater locomotion. The fishtail’s body is made of silicon allowing for elastic bending motion. Two fluid chambers are integrated into the volume mimicking an antagonistic muscle pair if pressure is applied antisymmetrically. The mathematical model is determined by following an open source toolchain using the finite element method. Model order reduction in terms of modal truncation is applied to obtain a feasible system order. Based on the reduced order model a systematic motion planning methodology is developed for the elastomechanic structure taking into account the controllable canoical form. Simulation results are provided to evaluate the efficiency of the presented approach.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
