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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| Published in | Journal of bionics engineering Vol. 4; no. 4; pp. 209 - 215 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| 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 | |
| Online Access | Get full text |
| ISSN | 1672-6529 2543-2141 |
| DOI | 10.1016/S1672-6529(07)60034-1 |
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| Abstract | 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. |
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| AbstractList | 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. 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. Q81; 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. |
| Author | Seunghee Lee Jounghyun Park Cheolheui Han |
| AuthorAffiliation | Department of Mechanical Engineering Hanyang University, Seoul 133-791, Korea Department of Aeronautical and Mechanical Design Engineering, Chungju National University, Chungju 380-702, Korea |
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| Cites_doi | 10.1016/S0376-0421(03)00077-0 10.1017/S0022112060001110 10.1242/jeb.13.2.192 10.1007/s11633-004-0042-5 10.1109/JOE.2004.833216 10.1146/annurev.fluid.38.050304.092201 10.1109/JOE.2005.843748 |
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| References | Rozhdestvensky, Ryzhov (bib4) 2003; 39 Lighthill (bib7) 1960; 9 Gray (bib1) 1936; 13 Mason R. Fluid Locomotion and Trajectory Planning for Shape-Changing Robots. PhD Thesis. California Institute of Technology, USA, 2003. Yu J Z, Wang L. Parameter optimization of simplified propulsive model for biomimetic robot fish. Fish, Lauder (bib2) 2006; 38 Bandyopadhyay (bib5) 2005; 30 Minneapolis, Minnesota, USA, 2006, 4129–4134. Triantafyllou, Techet, Hover (bib3) 2004; 29 Yu J Z, Liu L Z, Wang L. Dynamic modeling and experimental validation of biomimetic robotic fish. Barcelona, Spain, 2005, 3306–3311. Liu, Hu (bib6) 2004; 1 J Gray (4040209_CR1) 1936; 13 J Z Yu (4040209_CR8) 2005 J Z Yu (4040209_CR10) 2006 J D Liu (4040209_CR6) 2004; 1 K V Rozhdestvensky (4040209_CR4) 2003; 39 4040209_CR9 F E Fish (4040209_CR2) 2006; 38 P R Bandyopadhyay (4040209_CR5) 2005; 30 M S Triantafyllou (4040209_CR3) 2004; 29 M J Lighthill (4040209_CR7) 1960; 9 |
| References_xml | – volume: 29 start-page: 3 year: 2004 ident: bib3 article-title: Review of experimental work in biomimetic foils publication-title: IEEE Journal of Oceanic Engineering – reference: , Barcelona, Spain, 2005, 3306–3311. – volume: 13 start-page: 192 year: 1936 end-page: 199 ident: bib1 article-title: Studies in animal locomotion VI. The propulsive powers of the dolphin publication-title: Journal of Experimental Biology – volume: 30 start-page: 109 year: 2005 end-page: 139 ident: bib5 article-title: Trends in biorobotic autonomous undersea vehicles publication-title: IEEE Journal of Oceanic Engineering – reference: , Minneapolis, Minnesota, USA, 2006, 4129–4134. – volume: 38 start-page: 193 year: 2006 end-page: 224 ident: bib2 article-title: Passive and active flow control by swimming fishes and mammals publication-title: Annual Review of Fluids Mechanics – volume: 1 start-page: 42 year: 2004 end-page: 50 ident: bib6 article-title: A 3D simulator for autonomous robotic fish publication-title: International Journal of Automation and Computing – volume: 39 start-page: 585 year: 2003 end-page: 633 ident: bib4 article-title: Aerohydrodynamics of flapping-wing propulsors publication-title: Progress in Aerospace Sciences – reference: Yu J Z, Wang L. Parameter optimization of simplified propulsive model for biomimetic robot fish. – volume: 9 start-page: 305 year: 1960 end-page: 317 ident: bib7 article-title: Note on the swimming of slender fish publication-title: Journal of Fluid Mechanics – reference: Mason R. Fluid Locomotion and Trajectory Planning for Shape-Changing Robots. PhD Thesis. California Institute of Technology, USA, 2003. – reference: Yu J Z, Liu L Z, Wang L. Dynamic modeling and experimental validation of biomimetic robotic fish. – volume: 39 start-page: 585 year: 2003 ident: 4040209_CR4 publication-title: Progress in Aerospace Sciences doi: 10.1016/S0376-0421(03)00077-0 – volume: 9 start-page: 305 year: 1960 ident: 4040209_CR7 publication-title: Journal of Fluid Mechanics doi: 10.1017/S0022112060001110 – volume: 13 start-page: 192 year: 1936 ident: 4040209_CR1 publication-title: Journal of Experimental Biology doi: 10.1242/jeb.13.2.192 – volume: 1 start-page: 42 year: 2004 ident: 4040209_CR6 publication-title: International Journal of Automation and Computing doi: 10.1007/s11633-004-0042-5 – ident: 4040209_CR9 – start-page: 4129 volume-title: Dynamic modeling and experimental validation of biomimetic robotic fish year: 2006 ident: 4040209_CR10 – volume: 29 start-page: 3 year: 2004 ident: 4040209_CR3 publication-title: IEEE Journal of Oceanic Engineering doi: 10.1109/JOE.2004.833216 – volume: 38 start-page: 193 year: 2006 ident: 4040209_CR2 publication-title: Annual Review of Fluids Mechanics doi: 10.1146/annurev.fluid.38.050304.092201 – volume: 30 start-page: 109 year: 2005 ident: 4040209_CR5 publication-title: IEEE Journal of Oceanic Engineering doi: 10.1109/JOE.2005.843748 – start-page: 3306 volume-title: Parameter optimization of simplified propulsive model for biomimetic robot fish year: 2005 ident: 4040209_CR8 |
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| Snippet | 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... Q81; 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... |
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| SubjectTerms | mackerel-mimicking robot optimal control trajectory tracking 最佳控制 机器人 轨道跟踪 |
| Title | Optimal Control of a Mackerel-Mimicking Robot for Energy Efficient Trajectory Tracking |
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