지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 625 - 630 (6page)
이용수
초록· 키워드
오류제보하기
Robotic fish have gained much popularity in recent years. Almost of them is mainly controlled by biologically inspired approach. This paper presents an overview of control of the robotic fish. The robot have been designed and developed as a medium-sized Pearl Arowana robot combining studies of swimming movement, navigation, buoyancy. This paper describes the overall design and architecture of recently developed our robotic fish with the real-time controlling system generating swimming patterns. The robot is designed to be capable of undulatory swimming like fish in water. Both the structure and the controller of the robot are inspired by real fish. In particular, the swimming of the robot is controlled by master controller as PC that produces swimming waves of oscillations. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of swimming oscillations that optimize speed during undulatory movement in water. In particular, the optimal frequency and amplitude are identified when the robot is swimming in water like as real fish for monitor and acquiring underwater environment.
목차
Abstract
1. INTRODUCTION
2. STRUCTURE OF ROBOTIC FISH
3. SWIMMING CONTROL OF FISH ROBOT
4. ELECTRICAL DESIGN OF FISH ROBOT
5. EXPERIMENTS AND DISCUSSIONS
6. CONCLUSION
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913236