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Optimal control of a mackerel-mimicking robot for energy efficient trajectory tracking
- Authors
- Lee, Seunghee; Park, Jounghyun; Han, Cheolheui
- Issue Date
- Dec-2007
- Publisher
- SPRINGER SINGAPORE PTE LTD
- Keywords
- mackerel-mimicking robot; optimal control; trajectory tracking
- Citation
- JOURNAL OF BIONIC ENGINEERING, v.4, no.4, pp.209 - 215
- Indexed
- SCIE
SCOPUS
- Journal Title
- JOURNAL OF BIONIC ENGINEERING
- Volume
- 4
- Number
- 4
- Start Page
- 209
- End Page
- 215
- ISSN
- 1672-6529
- Abstract
- A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel's Carangiform, motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming. The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, optimal control of the robot is studied.
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)