TY - GEN
T1 - Dynamic modeling of a compliant tail-propelled robotic fish
AU - Kopman, Vladislav
AU - Laut, Jeffrey
AU - Porfiri, Maurizio
AU - Acquaviva, Francesco
AU - Rizzo, Alessandro
PY - 2013
Y1 - 2013
N2 - This paper presents a dynamic model for a class of robotic fish propelled by a tail with a flexible fin. The robot is comprised of a rigid frontal link acting as a body and a rear link serving as the tail. The tail includes a rigid component, hinged to the body through a servomotor, which is connected to a compliant caudal fin whose underwater vibration induces the propulsion. The robot's body dynamics is modeled using Kirchhoff 's equations of motion of bodies in quiescent fluids, while its tail motion is described with Euler-Bernoulli beam theory, accounting for the effect of the encompassing fluid through the Morison equation. Simulation data of the model is compared with experimental data. Applications of the model include simulation, prediction, design optimization, and control.
AB - This paper presents a dynamic model for a class of robotic fish propelled by a tail with a flexible fin. The robot is comprised of a rigid frontal link acting as a body and a rear link serving as the tail. The tail includes a rigid component, hinged to the body through a servomotor, which is connected to a compliant caudal fin whose underwater vibration induces the propulsion. The robot's body dynamics is modeled using Kirchhoff 's equations of motion of bodies in quiescent fluids, while its tail motion is described with Euler-Bernoulli beam theory, accounting for the effect of the encompassing fluid through the Morison equation. Simulation data of the model is compared with experimental data. Applications of the model include simulation, prediction, design optimization, and control.
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U2 - 10.1115/DSCC2013-3787
DO - 10.1115/DSCC2013-3787
M3 - Conference contribution
AN - SCOPUS:84902522021
SN - 9780791856123
T3 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
BT - Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications;
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Y2 - 21 October 2013 through 23 October 2013
ER -