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Trajectory stabilization for a planar carangiform robot fish

Morgansen, Kristi A. and Vela, Patricio A. and Burdick, Joel W. (2002) Trajectory stabilization for a planar carangiform robot fish. In: 2002 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 756-762. ISBN 0-7803-7272-7

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Considers the task of trajectory stabilization for a fish-like robot by means of feedback. We use oscillatory control inputs and apply correction signals at the endpoints of each periodic input signal. Such a strategy can be proven to cause the system to converge to a desired trajectory. We present a specific model of a planar carangiform fish, and verify the stabilization results with simulations and with experiment on a planar robotic fish system that is propelled using carangiform-like movements.

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Additional Information:© 2002 IEEE. Date of Current Version: 07 August 2002. This work was supported in part by the National Science Foundation through an Engineering Research Center grant (NSF-9402726) and through NSF grant CMS-9502224.
Funding AgencyGrant Number
NSF Engineering Research Center NSF-9402726
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INSPEC Accession Number7374923
Record Number:CaltechAUTHORS:20111103-122758437
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Official Citation:Morgansen, K.A.; Vela, P.A.; Burdick, J.W.; , "Trajectory stabilization for a planar carangiform robot fish," Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on , vol.1, no., pp. 756- 762 vol.1, 2002 doi: 10.1109/ROBOT.2002.1013449 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:27615
Deposited By: Tony Diaz
Deposited On:04 Nov 2011 15:53
Last Modified:04 Nov 2011 15:53

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