Abstract
This work focuses on developing a complete non-linear dynamic model comprising entirely kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors of a real carp. In order to imitate biological features, swimming patterns of a real carp for forward, turning and up-down motions are analyzed by using the Kineova 8.20 software. The proportional optimum link lengths according to actual size, swimming speed, flapping frequency, proportional physical parameters and different swimming motions of the real carp are investigated with the designed robotic fish model. Three-dimensional (3D) locomotion is evaluated by tracking two trajectories in a MATLAB environment. A Reaching Law Control (RLC) approach for inner loop (Euler angles-speed control) and a guidance system for the outer loop (orientation control) are proposed to provide an effective closed-loop control performance. In order to illustrate the 3D performance of the proposed closed loop control system in a virtual reality platform, the designed robotic fish model is also implemented using the Virtual Reality Modeling Language (VRML). Simulation and experimental analysis show that the proposed model gives us significant key solutions to design a fish-like robotic prototype.
Highlights
The contribution of this paper is to develop a complete dynamic model including kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors obtained from real carp
The fish model analyzed in this study is inspired by a Carangiform-mode fish based on the bodies and/or their caudal fins (BCF) locomotion
In order to mimic realreal fishcarp: swimming abilities, the robotic fish model focuses on five special points points according to the according to the real carp: 1. Proportional optimum link lengths according to actual size, 1
Summary
Biologically inspired behavior-based systems have been more and more popular topic in underwater vehicles. The contribution of this paper is to develop a complete dynamic model including kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors obtained from real carp. This model provides appropriate solutions for biomimetic design of fish-like motions with 3D carp gait patterns unlike the dynamic robotic fish models available in the literature with non-realistic parameters. The closed loop performance is provided by using the Reaching Law Control (RLC) approach in the inner loop and orientation control is achieved with a guidance system in the outer loop These simulations and experimental analyses show that the proposed model gives us significant key solutions to design a fish-like robotic prototype.
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