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Robotics 2017, 6(4), 30; doi:10.3390/robotics6040030

Optimization of the Kinematic Model for Biomimetic Robotic Fish with Rigid Headshaking Mitigation

1
School of Mechanical and Electrical Engineering, Hohai University, Nanjing 210098, China
2
School of Energy and Electrical, Hohai University, Nanjing 210098, China
3
School of Computer and Information, Hohai University, Nanjing 210098, China
*
Author to whom correspondence should be addressed.
Received: 20 September 2017 / Revised: 20 October 2017 / Accepted: 25 October 2017 / Published: 27 October 2017
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Abstract

Biomimetic robotic fish is a new type of underwater robot with many superior characteristics such as high movement speed, high motion efficiency, high energy efficiency, and so on. However, the traditional kinematic model for biomimetic robotic fish has many shortcomings which limit their movement speed, such as the rigid shakes of the fish’s head when it swims, which is caused by neglecting the influences of manufacturing process on the model. In order to mitigate the rigid headshaking, a revised kinematic model is proposed by introducing an offset of the joints rotation center. The proposed kinematic equations are well simulated in a MATLAB environment, and the numerical results illustrate the advantage of the new kinematic model. Finally, experimental results generated from a three-joint biomimetic robotic fish with the proposed model show that the fish’s head shaking is effectively restrained, and therefore the swimming speed is significantly improved. View Full-Text
Keywords: biomimetic robotic fish; kinematics model; headshaking; swimming speed; joints rotation center; swimming characteristics; fish body wave; cruise biomimetic robotic fish; kinematics model; headshaking; swimming speed; joints rotation center; swimming characteristics; fish body wave; cruise
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Lou, B.; Ni, Y.; Mao, M.; Wang, P.; Cong, Y. Optimization of the Kinematic Model for Biomimetic Robotic Fish with Rigid Headshaking Mitigation. Robotics 2017, 6, 30.

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