The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Development of Swimming Mechanism and Algorithm for Fish-Type Underwater Robot(1)

물고기형 수중로봇의 유영메커니즘 및 알고리즘 개발(1)

  • 류영선 (한국생산기술연구원 로봇기술본부)
  • Received : 2008.12.05
  • Accepted : 2008.12.24
  • Published : 2009.02.27
Download PDF
⟨ Previous Next ⟩

Abstract

Generally, underwater vehicle type of propeller shows low efficiency about 50%-55%. However, the efficiency of swimming mechanism of a fish is 60%-70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.

Keywords

References

  1. 조강진, 박해원, 김석우, 양현석, 박영필, 박노철, 물고기의 추진을 모방한 로봇의 개발, 연세대학교 기계공학부, IMPL.
  2. 김은정, "물고기 로봇-PoTuna의 설계 및 해석", 포항공과대 대학원 석사학위논문, 2003.02.
  3. N. Kato, S. Kamimura, "Bio-mechanisms of Swimming and Flying", Springer 2008.
  4. Norifumi OHGISHI, Kyosuke ONO and Motomu NAKASHIMA, 2003, "A study on the Propulsive Mechanism of a Double jointed Fish Robot Utilizing Self-Excitation Control", Proceedings of The 6th Intl' Conf. on MOVIC2002, Vol. 46, No.3, pp 982-990.
  5. TAKESUE NAOYUKI, WANG WEIMING, FUJIMOTO HIDEO, 2006, "Development of Fish Robot for River Survey and Experiments of Its Swimming Performance", JROS Vol 2006, pp1P1-E28.
  6. Motomu Nakashima, Yoshitaka Takahashi, Takahiro Tsubaki, 2004, "Three-Dimensional Maneuverability of the Dolphin Robot (Roll Control and Loop-the-Loop Motion)," Bio-mechanisms of Swimming and Flying, pp79-92, Springer.