Development of a biomimetic robotic fish and its control algorithm.
This paper is concerned with the design of a robotic fish and its motion control algorithms. A radio-controlled, four-link biomimetic robotic fish is developed using a flexible posterior body and an oscillating foil as a propeller. The swimming speed of the robotic fish is adjusted by modulating joint's oscillating frequency, and its orientation is tuned by different joint's deflections. Since the motion control of a robotic fish involves both hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a precise mathematical model employing purely analytical methods. Therefore, the fish's motion control task is decomposed into two control systems. The online speed control implements a hybrid control strategy and a proportional-integral-derivative (PID) control algorithm. The orientation control system is based on a fuzzy logic controller. In our experiments, a point-to-point (PTP) control algorithm is implemented and an overhead vision system is adopted to provide real-time visual feedback. The experimental results confirm the effectiveness of the proposed algorithms.
Laboratory of Complex Systems and Intelligence Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China. jzyu@compsys.ia.ac.cn
Junzhi
J
Yu
Min
M
Tan
Shuo
S
Wang
Erkui
E
Chen
D000465:Algorithms; D000818:Animals; D001185:Artificial Intelligence; D032701:Biomimetics / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback / Q000502:physiology; D005399:Fishes / Q000502:physiology*; D017143:Fuzzy Logic; D008328:Man-Machine Systems; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013550:Swimming / Q000502:physiology*; D013686:Telemetry / Q000295:instrumentation / Q000379:methods