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: © 2019 |Pages: 15
DOI: 10.4018/978-1-5225-8060-7.ch042

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).

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