Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
권호 표지
DOI QR코드

DOI QR Code

A study on the straight cruise of fish robot according to biological mimic

생물학적 모방에 따른 물고기 로봇의 직진유영 연구

  • 박진현 (경남과학기술대학교 메카트로닉스공학과) ;
  • 이태환 (경남과학기술대학교 메카트로닉스공학과) ;
  • 최영규 (부산대학교 전자전기공학부)
  • Received : 2011.03.04
  • Accepted : 2011.05.04
  • Published : 2011.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper was researched the straight cruise of fish robot according to biological mimic, and it was compared the proposed method which was considered up to 7th order components in fourier series of Liu's tail motion function with the approximate method which was used general sine function by simulation. If fish robot has a large number of links and if the length of tail link is long. The end rotary joint trajectory of tail motion function generally is different from sine function. Therefore The approximate method which expresses tail motion trajectories as fundamental component in fourier series has a problem. Through the computer simulation, the proposed method showed 10% excellent propulsion and velocity than the conventional method.

본 연구에서는 생물학적 모방에 따른 물고기 로봇의 직진유영에 관한 연구로써, Liu 등이 제안한 꼬리 모션 함수를 푸우리에 급수 전개의 7차 항까지 고려한 제안된 방법과 일반적인 사인함수만으로 근사한 방법과 비교하여 모의실험 하였다. 일반적으로 로봇 물고기의 꼬리 링크의 길이가 길어지고 링크가 많을 경우, 로봇 물고기의 꼬리 모션 함수의 말단 회전 관절 궤적은 사인 함수의 모양과 매우 다르다. 그러므로 로봇 물고기의 꼬리 궤적을 단순한 푸우리에 급수 전개의 기본파 성분만으로 근사하기에는 문제가 있다. 제안된 방법과 일반적인 사인함수만으로 근사한 방법의 모의실험 결과 제안된 방법이 로봇 물고기의 추력과 속도에서 10%정도 뛰어남을 보였다.

Keywords

Acknowledgement

Supported by : 경남과학기술대학교

References

  1. Tunog Quan Vo, Hyoung Seok Kim and, Byong Ryong Lee, "Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Cliimbing Algorithm," Journal of Bionic Engineering 6, pp. 415-429, 2009 https://doi.org/10.1016/S1672-6529(08)60140-7
  2. Jinding Liu and Huosheng Hu, "Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish," Journal of Bionic Engineering 7, pp. 35-48, 2010 https://doi.org/10.1016/S1672-6529(09)60184-0
  3. Qun Yan, Zhen Han, Shi-wu Zhang, Jie Yang, "Parametric Research of Experiments on a Carangiform Robot Fish," Journal of Bionic Engineering 5, pp. 95-101, 2008 https://doi.org/10.1016/S1672-6529(08)60012-8
  4. J. Witting, K. Safak, G. Adams G, "Shape memory alloy actuators applied to biomimetic underwater robots," In: Ayers J, Davis J, Rudolph A (eds). Neurotechnology for Biomimetic Robots, MIT Press, USA, 117-136, 2001.
  5. J. shao, L. Wang, J. Yu, "Development of an artificial fish-like robot and its application in cooperation transportation," Control Engineering Practice 16, pp. 569-584, 2008. https://doi.org/10.1016/j.conengprac.2007.06.005
  6. J. Yu, S. Wang, M. Tan, "A simplified propulsive model of biomimetic robot fish and its realization," Robotica, Vol. 23, pp. 101-107, 2005. https://doi.org/10.1017/S0263574704000426
  7. S. Guo, T. Fukuda, N. Kato, K. Oguro, "Development of underwater microprobe using IMPF actuator," Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1829-1834, 1998.
  8. National Maritime Research Institute. Welcome to Fish Robot Home Page, [2000-09-01], http://www.nmri.go.jp/eng/khirata/fish/
  9. Mitsubishi Heavy Industries Ltd News. MHI to Produce First Lifelike Robotic Fish Available on Market, [2001-01-19], http://ww.mhi.co.jp/ en/news/sec1/e_0898.html
  10. Webb P W. Form and function in fish swimming. Scientific American, Vol. 25, pp. 58-68. 1984.
  11. Liu J D, Dukes I, Hu H S, "Novel mechatronics design for a robotic fish," IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, pp. 2077-2082. 2005.
  12. Liu J D, Hu H S, "A 3D simulator for autonomous robotic fish." International Journal of Automation and Computing, Vol. 1, pp. 42-55. 2004. https://doi.org/10.1007/s11633-004-0042-5
  13. Liu J D, Hu H S. "Mimicry of sharp turning behaviours in a robotic fish." Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 3329-3334, 2005.
  14. Lighthill M J, "Note on the swimming of slender fish." Journal of Fluid Mechanics, Vol. 9, pp. 305-317, 1960. https://doi.org/10.1017/S0022112060001110
  15. Biohydrodynamics MATLAB Toolbox, A. Munnier and B. Pincon, http://bht.gforge.inria.fr/
  16. Mathworks, matlabcentral File Exchange page [2009- 04-04], http://www.mathworks.com/mat- labcentral/fileexchange/21872

Cited by

  1. Geometric Path Tracking for a Fish Robot vol.18, pp.4, 2014, https://doi.org/10.6109/jkiice.2014.18.4.906
  2. Development of Biomimetic Underwater Vehicle using Single Actuator vol.33, pp.7, 2016, https://doi.org/10.7736/KSPE.2016.33.7.571