Design of a robotic fish propelled by oscillating flexible pectoral foils

Yueri Cai; Shusheng Bi; Lige Zhang; Jun Gao

doi:10.1109/IROS.2009.5354749

Design of a robotic fish propelled by oscillating flexible pectoral foils

Yueri Cai
, Shusheng Bi^*
, Lige Zhang
, Jun Gao

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

38 Scopus citations

Abstract

This paper proposed a new method of designing a flexible biomimetic fish propelled by oscillating flexible pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility as main parts of the propulsive mechanism. The leading edge locomotion profile of the flexible pectoral fin in air is studied experimentally, and the flapping locomotion in water is observed too. Finally, the effectiveness of the proposed method is illustrated by the experiment. It shows that the robotic fish can realize self-driven, and it can swim at a speed of 0.18m/s∼0.20m/s after optimization.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	2138-2142
Number of pages	5
DOIs	https://doi.org/10.1109/IROS.2009.5354749
State	Published - 11 Dec 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 11 Oct 2009 → 15 Oct 2009

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	11/10/09 → 15/10/09

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10.1109/IROS.2009.5354749

Cite this

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title = "Design of a robotic fish propelled by oscillating flexible pectoral foils",

abstract = "This paper proposed a new method of designing a flexible biomimetic fish propelled by oscillating flexible pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility as main parts of the propulsive mechanism. The leading edge locomotion profile of the flexible pectoral fin in air is studied experimentally, and the flapping locomotion in water is observed too. Finally, the effectiveness of the proposed method is illustrated by the experiment. It shows that the robotic fish can realize self-driven, and it can swim at a speed of 0.18m/s∼0.20m/s after optimization.",

author = "Yueri Cai and Shusheng Bi and Lige Zhang and Jun Gao",

year = "2009",

month = dec,

day = "11",

doi = "10.1109/IROS.2009.5354749",

language = "英语",

isbn = "9781424438044",

series = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

pages = "2138--2142",

booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

}

Cai, Y , Bi, S, Zhang, L & Gao, J 2009, Design of a robotic fish propelled by oscillating flexible pectoral foils. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354749, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 2138-2142, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 11/10/09. https://doi.org/10.1109/IROS.2009.5354749

Design of a robotic fish propelled by oscillating flexible pectoral foils. / Cai, Yueri ; Bi, Shusheng; Zhang, Lige et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 2138-2142 5354749 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of a robotic fish propelled by oscillating flexible pectoral foils

AU - Cai, Yueri

AU - Bi, Shusheng

AU - Zhang, Lige

AU - Gao, Jun

PY - 2009/12/11

Y1 - 2009/12/11

N2 - This paper proposed a new method of designing a flexible biomimetic fish propelled by oscillating flexible pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility as main parts of the propulsive mechanism. The leading edge locomotion profile of the flexible pectoral fin in air is studied experimentally, and the flapping locomotion in water is observed too. Finally, the effectiveness of the proposed method is illustrated by the experiment. It shows that the robotic fish can realize self-driven, and it can swim at a speed of 0.18m/s∼0.20m/s after optimization.

AB - This paper proposed a new method of designing a flexible biomimetic fish propelled by oscillating flexible pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility as main parts of the propulsive mechanism. The leading edge locomotion profile of the flexible pectoral fin in air is studied experimentally, and the flapping locomotion in water is observed too. Finally, the effectiveness of the proposed method is illustrated by the experiment. It shows that the robotic fish can realize self-driven, and it can swim at a speed of 0.18m/s∼0.20m/s after optimization.

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DO - 10.1109/IROS.2009.5354749

M3 - 会议稿件

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BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Y2 - 11 October 2009 through 15 October 2009

ER -

Design of a robotic fish propelled by oscillating flexible pectoral foils

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