Optimal Control of a Mackerel-Mimicking Robot for Energy Efficient Trajectory Tracking

A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel＇s Carangiform motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and uti...

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Bibliographic Details
Published inJournal of bionics engineering Vol. 4; no. 4; pp. 209 - 215
Main Authors Lee, Seunghee, Park, Jounghyun, Han, Cheolheui
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.12.2007
Department of Mechanical Engineering Hanyang University, Seoul 133-791, Korea%Department of Aeronautical and Mechanical Design Engineering, Chungju National University, Chungju 380-702, Korea
Subjects
mackerel-mimicking robot
optimal control
trajectory tracking
最佳控制
机器人
轨道跟踪
mackerel-mimicking robot
optimal control
trajectory tracking
Online AccessGet full text
ISSN1672-6529
2543-2141
DOI10.1016/S1672-6529(07)60034-1

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Summary:A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel＇s Carangiform motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming. The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, optimal control of the robot is studied.
Bibliography:22-1355/TB
Q811
mackerel-mimicking robot, optimal control, trajectory tracking
ObjectType-Article-2
SourceType-Scholarly Journals-1
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content type line 23
ISSN:1672-6529
2543-2141
DOI:10.1016/S1672-6529(07)60034-1