Pitching stability modeling and analysis of robotic fish propelled by oscillating flexible pectoral fins

Hongwei Ma; Shusheng Bi; Yueri Cai; Lige Zhang; Jun Gao

doi:10.1109/ROBIO.2013.6739565

Pitching stability modeling and analysis of robotic fish propelled by oscillating flexible pectoral fins

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

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
CAS - Beijing Institute of Control Engineering

Research output: Contribution to conference › Paper › peer-review

2 Scopus citations

Abstract

In the process of oscillation, longitudinal disturbance is produced when pectoral fins of robotic fish produce propulsion. The disturbance leads to pitching motion of the body of robotic fish, increasing the swimming resistance and reducing the efficiency of swimming. Pitching stability model of robotic fish propelled by oscillating flexible pectoral fins is established based on the third generation of robotic fish developed by the robotics institute of BUAA in current study. It is verified that the model is a second-order linear system. In addition, the relationship between natural frequency of pitching stability system and swimming speed of the robotic fish is obtained. Finally, the effectiveness of pitching stability model is testified by the experiment.

Original language	English
Pages	830-835
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739565
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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10.1109/ROBIO.2013.6739565

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title = "Pitching stability modeling and analysis of robotic fish propelled by oscillating flexible pectoral fins",

abstract = "In the process of oscillation, longitudinal disturbance is produced when pectoral fins of robotic fish produce propulsion. The disturbance leads to pitching motion of the body of robotic fish, increasing the swimming resistance and reducing the efficiency of swimming. Pitching stability model of robotic fish propelled by oscillating flexible pectoral fins is established based on the third generation of robotic fish developed by the robotics institute of BUAA in current study. It is verified that the model is a second-order linear system. In addition, the relationship between natural frequency of pitching stability system and swimming speed of the robotic fish is obtained. Finally, the effectiveness of pitching stability model is testified by the experiment.",

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

year = "2013",

doi = "10.1109/ROBIO.2013.6739565",

language = "英语",

pages = "830--835",

note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

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T1 - Pitching stability modeling and analysis of robotic fish propelled by oscillating flexible pectoral fins

AU - Ma, Hongwei

AU - Bi, Shusheng

AU - Cai, Yueri

AU - Zhang, Lige

AU - Gao, Jun

PY - 2013

Y1 - 2013

N2 - In the process of oscillation, longitudinal disturbance is produced when pectoral fins of robotic fish produce propulsion. The disturbance leads to pitching motion of the body of robotic fish, increasing the swimming resistance and reducing the efficiency of swimming. Pitching stability model of robotic fish propelled by oscillating flexible pectoral fins is established based on the third generation of robotic fish developed by the robotics institute of BUAA in current study. It is verified that the model is a second-order linear system. In addition, the relationship between natural frequency of pitching stability system and swimming speed of the robotic fish is obtained. Finally, the effectiveness of pitching stability model is testified by the experiment.

AB - In the process of oscillation, longitudinal disturbance is produced when pectoral fins of robotic fish produce propulsion. The disturbance leads to pitching motion of the body of robotic fish, increasing the swimming resistance and reducing the efficiency of swimming. Pitching stability model of robotic fish propelled by oscillating flexible pectoral fins is established based on the third generation of robotic fish developed by the robotics institute of BUAA in current study. It is verified that the model is a second-order linear system. In addition, the relationship between natural frequency of pitching stability system and swimming speed of the robotic fish is obtained. Finally, the effectiveness of pitching stability model is testified by the experiment.

UR - https://www.scopus.com/pages/publications/84898776795

U2 - 10.1109/ROBIO.2013.6739565

DO - 10.1109/ROBIO.2013.6739565

M3 - 论文

AN - SCOPUS:84898776795

SP - 830

EP - 835

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Pitching stability modeling and analysis of robotic fish propelled by oscillating flexible pectoral fins

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