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Experiments in carangiform robotic fish locomotion

Mason, Richard and Burdick, Joel W. (2000) Experiments in carangiform robotic fish locomotion. In: 2000 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 428-435. ISBN 0-7803-5886-4 . http://resolver.caltech.edu/CaltechAUTHORS:20111130-082001294

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Abstract

This paper studies a form of robotic fish movement that is analogous to the carangiform style of swimming seen in nature. We propose a simple quasi-steady fluid flow model for predicting the thrust generated by the flapping tail. We then describe an experimental system, consisting of a three-link robot, that has been constructed in order to study carangiform-like swimming. Experimental results obtained with this system suggest that the simplified propulsion model is reasonably accurate. The input parameters that realize optimum thrust are experimentally determined. Finally, we consider some issues in maneuvering.


Item Type:Book Section
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http://dx.doi.org/10.1109/ROBOT.2000.844093 DOIArticle
Additional Information:© 2000 IEEE. Date of Current Version: 06 August 2002.
Record Number:CaltechAUTHORS:20111130-082001294
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20111130-082001294
Official Citation:Mason, R.; Burdick, J.W.; , "Experiments in carangiform robotic fish locomotion," Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on , vol.1, no., pp.428-435 vol.1, 2000 doi: 10.1109/ROBOT.2000.844093 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=844093&isnumber=18235
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:28239
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:19 Jan 2012 18:53
Last Modified:10 Jun 2019 21:23

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