Hydrodynamic investigation of a self-propelled robotic fish based on a force-feedback control method
- PMID: 22556135
- DOI: 10.1088/1748-3182/7/3/036012
Hydrodynamic investigation of a self-propelled robotic fish based on a force-feedback control method
Abstract
We implement a mackerel (Scomber scombrus) body-shaped robot, programmed to display the three most typical body/caudal fin undulatory kinematics (i.e. anguilliform, carangiform and thunniform), in order to biomimetically investigate hydrodynamic issues not easily tackled experimentally with live fish. The robotic mackerel, mounted on a servo towing system and initially at rest, can determine its self-propelled speed by measuring the external force acting upon it and allowing for the simultaneous measurement of power, flow field and self-propelled speed. Experimental results showed that the robotic swimmer with thunniform kinematics achieved a faster final swimming speed (St = 0.424) relative to those with carangiform (St = 0.43) and anguilliform kinematics (St = 0.55). The thrust efficiency, estimated from a digital particle image velocimetry (DPIV) flow field, showed that the robotic swimmer with thunniform kinematics is more efficient (47.3%) than those with carangiform (31.4%) and anguilliform kinematics (26.6%). Furthermore, the DPIV measurements illustrate that the large-scale characteristics of the flow pattern generated by the robotic swimmer with both anguilliform and carangiform kinematics were wedge-like, double-row wake structures. Additionally, a typical single-row reverse Karman vortex was produced by the robotic swimmer using thunniform kinematics. Finally, we discuss this novel force-feedback-controlled experimental method, and review the relative self-propelled hydrodynamic results of the robot when utilizing the three types of undulatory kinematics.
Similar articles
-
On the role of form and kinematics on the hydrodynamics of self-propelled body/caudal fin swimming.J Exp Biol. 2010 Jan 1;213(1):89-107. doi: 10.1242/jeb.030932. J Exp Biol. 2010. PMID: 20008366
-
Hydrodynamics of a robotic fish tail: effects of the caudal peduncle, fin ray motions and the flow speed.Bioinspir Biomim. 2016 Feb 8;11(1):016008. doi: 10.1088/1748-3190/11/1/016008. Bioinspir Biomim. 2016. PMID: 26855405
-
Mechatronic design and locomotion control of a robotic thunniform swimmer for fast cruising.Bioinspir Biomim. 2015 Mar 30;10(2):026006. doi: 10.1088/1748-3190/10/2/026006. Bioinspir Biomim. 2015. PMID: 25822708
-
Design considerations for an underwater soft-robot inspired from marine invertebrates.Bioinspir Biomim. 2015 Oct 29;10(6):065004. doi: 10.1088/1748-3190/10/6/065004. Bioinspir Biomim. 2015. PMID: 26513603 Review.
-
A survey of snake-inspired robot designs.Bioinspir Biomim. 2009 Jun;4(2):021001. doi: 10.1088/1748-3182/4/2/021001. Epub 2009 Jan 22. Bioinspir Biomim. 2009. PMID: 19158415 Review.
Cited by
-
Hydrodynamics of linear acceleration in bluegill sunfish, Lepomis macrochirus.J Exp Biol. 2018 Nov 30;221(Pt 23):jeb190892. doi: 10.1242/jeb.190892. J Exp Biol. 2018. PMID: 30291157 Free PMC article.
-
Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators.Soft Robot. 2014 Mar 1;1(1):75-87. doi: 10.1089/soro.2013.0009. Soft Robot. 2014. PMID: 27625912 Free PMC article.
-
Fish and robots swimming together in a water tunnel: robot color and tail-beat frequency influence fish behavior.PLoS One. 2013 Oct 25;8(10):e77589. doi: 10.1371/journal.pone.0077589. eCollection 2013. PLoS One. 2013. PMID: 24204882 Free PMC article.
Publication types
MeSH terms
Substances
LinkOut - more resources
Full Text Sources
