Abstract
This paper deals with development of a motion control method for fish type robots using a mechanism composed of a shape-memory alloy type artificial muscle and a robotic mechanism which mimics the swimming motion of a subcarangiform fish. The characteristics of the motion mechanism were first examined by model experiments and the swimming performance of the robot was tested in an experimental tank. The effectiveness of the motion mechanism was examined based on the experimental results using motion pictures taken by a digital video camera. Control techniques for the robot to realize forward movement and sudden acceleration were developed based on the results of observed fish motions.
| Original language | English |
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| Title of host publication | Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 |
| Pages | 254-259 |
| Number of pages | 6 |
| Publication status | Published - 2006 |
| Event | 16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 - San Francisco, CA, United States Duration: May 28 2006 → Jun 2 2006 |
Other
| Other | 16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 |
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| Country | United States |
| City | San Francisco, CA |
| Period | 5/28/06 → 6/2/06 |
All Science Journal Classification (ASJC) codes
- Ocean Engineering