On locomotion of a laminated fish-inspired robot in a small-to-size environment

Mohammad Sharifzadeh, Roozbeh Khodambashi, Wenlong Zhang, Daniel Aukes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Many different robots have been designed and built to work under water. In many cases, researchers have chosen to use a bioinspired platforms. In most cases, the main goal of the fish inspired robots has been set to autonomously swim and maneuver in an environment spacious compared to the fish’s size. In this paper, the identification & control of a low-cost fish-inspired robot is studied with goal of building a mechanism to not only swim in water but able to interact with its narrow environment. The robotic fish under study uses tail propulsion as main locomotion. Moreover, proper propulsion regimes are identified and used to model and control thrust generated by propulsion.

Original languageEnglish (US)
Title of host publication42nd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5A-2018
ISBN (Electronic)9780791851807
DOIs
StatePublished - Jan 1 2018
EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
Duration: Aug 26 2018Aug 29 2018

Other

OtherASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
CountryCanada
CityQuebec City
Period8/26/188/29/18

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Keywords

  • Bio-inspired robot
  • Experimental Identification & Control
  • Laminated robots
  • Robotic fish

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Sharifzadeh, M., Khodambashi, R., Zhang, W., & Aukes, D. (2018). On locomotion of a laminated fish-inspired robot in a small-to-size environment. In 42nd Mechanisms and Robotics Conference (Vol. 5A-2018). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC201885594