Fundamental Control for a Manta-Like Fish Robot

Fundamental Control for a Manta-Like Fish Robot

Masaaki Ikeda (Universiti Sultan Zainal Abidin, Malaysia), Keigo Watanabe (Okayama University, Japan) and Isaku Nagai (Okayama University, Japan)
Copyright: © 2015 |Pages: 15
DOI: 10.4018/978-1-4666-7387-8.ch007

Abstract

This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.
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Background

In this section, several fish robots are briefly reviewed according to a classification of swimming mechanism of fishes. For more detailed discussions, see Ikeda et al. (2013a).

Key Terms in this Chapter

Fish-Robot: A robot that mimicked a fish for obtaining locomotion ability underwater.

Rajiform: A kind of propulsive motion of fish included in MPF, especially seen in flat body fishes. The Propulsive force is generated by vertical undulations along large, well developed pectoral fins.

Manta: A large fish that lives in tropical seas and is a kind of ray. They swim by moving two pectoral fins like large flat wings.

Fin-Ray: One of the bony or cartilaginous spines supporting the membrane of a fin of a fish.

Pectoral-Fin: A kind of the fin of a fish that is related to or connected with the chest or breast.

MPF: A kind of propulsive motion of fish using mainly median and paired fins.

AUV: Some vehicle for under water exploration is called an autonomous underwater vehicle (AUV).

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