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http://dx.doi.org/10.6109/jkiice.2011.15.8.1756

A study on the straight cruise of fish robot according to biological mimic  

Park, Jin-Hyun (경남과학기술대학교 메카트로닉스공학과)
Lee, Tae-Hwan (경남과학기술대학교 메카트로닉스공학과)
Choi, Young-Kiu (부산대학교 전자전기공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.15, no.8, 2011 , pp. 1756-1763 More about this Journal
Abstract
This paper was researched the straight cruise of fish robot according to biological mimic, and it was compared the proposed method which was considered up to 7th order components in fourier series of Liu's tail motion function with the approximate method which was used general sine function by simulation. If fish robot has a large number of links and if the length of tail link is long. The end rotary joint trajectory of tail motion function generally is different from sine function. Therefore The approximate method which expresses tail motion trajectories as fundamental component in fourier series has a problem. Through the computer simulation, the proposed method showed 10% excellent propulsion and velocity than the conventional method.
Keywords
biological mimic; tail motion function;
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