A Caltech Library Service

Nonlinear control methods for planar carangiform robot fish locomotion

Morgansen, Kristi A. and Duindam, Vincent and Mason, Richard J. and Burdick, Joel W. and Murray, Richard M. (2001) Nonlinear control methods for planar carangiform robot fish locomotion. In: 2001 IEEE International Conference on Robotics and Automation. IEEE , Pitscataway, NJ, pp. 427-434. ISBN 0-7803-6576-3.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by experiment.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2001 IEEE. Date of Current Version: 18 April 2006. This work was supported in part by the National Science Foundation through an Engineering Research Center grant and through NSF grant CMS-9502224.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20111109-145851328
Persistent URL:
Official Citation:Morgansen, K.A.; Duidam, V.; Mason, R.J.; Burdick, J.W.; Murray, R.M.; , "Nonlinear control methods for planar carangiform robot fish locomotion," Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on , vol.1, no., pp. 427- 434 vol.1, 2001 doi: 10.1109/ROBOT.2001.932588 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:27716
Deposited By: Tony Diaz
Deposited On:18 Jan 2012 19:58
Last Modified:09 Nov 2021 16:51

Repository Staff Only: item control page