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.
Yu
Junzhi
J
Laboratory of Complex Systems and Intelligence Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China. jzyu@compsys.ia.ac.cn
Tan
Min
M
Wang
Shuo
S
Chen
Erkui
E
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