A study on control method for a fish type robot by artificial muscle

Satoru Yamaguchi, Masashi Terada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
Pages254-259
Number of pages6
Publication statusPublished - 2006
Event16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 - San Francisco, CA, United States
Duration: May 28 2006Jun 2 2006

Other

Other16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
CountryUnited States
CitySan Francisco, CA
Period5/28/066/2/06

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All Science Journal Classification (ASJC) codes

  • Ocean Engineering

Cite this

Yamaguchi, S., & Terada, M. (2006). A study on control method for a fish type robot by artificial muscle. In Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 (pp. 254-259)