Development and depth control of a robotic fish mimicking cownose ray

Chuanmeng Niu; Lige Zhang; Shusheng Bi; Yueri Cai

doi:10.1109/ROBIO.2012.6491068

Development and depth control of a robotic fish mimicking cownose ray

Chuanmeng Niu
, Lige Zhang^*
, Shusheng Bi
, Yueri Cai

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

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

35 Scopus citations

Abstract

A robotic fish mimicking cownose ray is developed and a fuzzy depth control method is presented in this paper. With dosoventrally flattened body wich is disigned by imitating body shape of cownose ray, the robotic fish has preferable pitch stability. A tail-unit, which consists of a pair of horizontal tails and a vertical tail, is used to realize turning motion in the horizontal plane and up-and-down motion in the vertical plane. By adjusting rotation angles of the horizontal tail, the robotic fish can swim upward or downward. Due to the complex hydrodynamics and uncertaintyies exist in the environment, fuzzy logic method is applied to realize automatic depth control of the robotic fish. The experimental results on the prototype verify that the fuzzy logic depth control method is effective in design and implemention.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	814-818
Number of pages	5
DOIs	https://doi.org/10.1109/ROBIO.2012.6491068
State	Published - 2012
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

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10.1109/ROBIO.2012.6491068

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Niu, C., Zhang, L., Bi, S., & Cai, Y. (2012). Development and depth control of a robotic fish mimicking cownose ray. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 814-818). Article 6491068 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491068

@inproceedings{be90ce5f7d084ab58282bc834670e2db,

title = "Development and depth control of a robotic fish mimicking cownose ray",

abstract = "A robotic fish mimicking cownose ray is developed and a fuzzy depth control method is presented in this paper. With dosoventrally flattened body wich is disigned by imitating body shape of cownose ray, the robotic fish has preferable pitch stability. A tail-unit, which consists of a pair of horizontal tails and a vertical tail, is used to realize turning motion in the horizontal plane and up-and-down motion in the vertical plane. By adjusting rotation angles of the horizontal tail, the robotic fish can swim upward or downward. Due to the complex hydrodynamics and uncertaintyies exist in the environment, fuzzy logic method is applied to realize automatic depth control of the robotic fish. The experimental results on the prototype verify that the fuzzy logic depth control method is effective in design and implemention.",

author = "Chuanmeng Niu and Lige Zhang and Shusheng Bi and Yueri Cai",

year = "2012",

doi = "10.1109/ROBIO.2012.6491068",

language = "英语",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "814--818",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Niu, C, Zhang, L, Bi, S & Cai, Y 2012, Development and depth control of a robotic fish mimicking cownose ray. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491068, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 814-818, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491068

Development and depth control of a robotic fish mimicking cownose ray. / Niu, Chuanmeng; Zhang, Lige; Bi, Shusheng et al.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 814-818 6491068 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

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

TY - GEN

T1 - Development and depth control of a robotic fish mimicking cownose ray

AU - Niu, Chuanmeng

AU - Zhang, Lige

AU - Bi, Shusheng

AU - Cai, Yueri

PY - 2012

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N2 - A robotic fish mimicking cownose ray is developed and a fuzzy depth control method is presented in this paper. With dosoventrally flattened body wich is disigned by imitating body shape of cownose ray, the robotic fish has preferable pitch stability. A tail-unit, which consists of a pair of horizontal tails and a vertical tail, is used to realize turning motion in the horizontal plane and up-and-down motion in the vertical plane. By adjusting rotation angles of the horizontal tail, the robotic fish can swim upward or downward. Due to the complex hydrodynamics and uncertaintyies exist in the environment, fuzzy logic method is applied to realize automatic depth control of the robotic fish. The experimental results on the prototype verify that the fuzzy logic depth control method is effective in design and implemention.

AB - A robotic fish mimicking cownose ray is developed and a fuzzy depth control method is presented in this paper. With dosoventrally flattened body wich is disigned by imitating body shape of cownose ray, the robotic fish has preferable pitch stability. A tail-unit, which consists of a pair of horizontal tails and a vertical tail, is used to realize turning motion in the horizontal plane and up-and-down motion in the vertical plane. By adjusting rotation angles of the horizontal tail, the robotic fish can swim upward or downward. Due to the complex hydrodynamics and uncertaintyies exist in the environment, fuzzy logic method is applied to realize automatic depth control of the robotic fish. The experimental results on the prototype verify that the fuzzy logic depth control method is effective in design and implemention.

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M3 - 会议稿件

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BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

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Y2 - 11 December 2012 through 14 December 2012

ER -

Development and depth control of a robotic fish mimicking cownose ray

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