Efficient thrust generation in robotic fish caudal fins using policy search

Thrust generation is a crucial aspect of fish locomotion that depends on a variety of morphological and kinematic parameters. In this work, the kinematics of caudal fin motion of a robotic fish are optimised experimentally. The robotic fish actuates its caudal fin with flapping and rotation motion,...

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Bibliographic Details
Published in:IET Cyber-systems and Robotics
Main Authors: Yixi Shan, Yagiz E. Bayiz, Bo Cheng
Format: Article
Language:English
Published: Wiley 2019-03-01
Subjects:
aerospace components
robot kinematics
hydrodynamics
actuators
underwater vehicles
mobile robots
robot dynamics
marine propulsion
biomimetics
aerodynamics
efficient fin shape
robotic fish caudal fins
thrust generation
crucial aspect
fish locomotion
morphological parameters
kinematic parameters
caudal fin motion
fin hydrodynamic force
torque
different shapes
policy search algorithm
thrust-generation efficiency
rotation amplitude
phase delay
test
trajectory profile
smaller flapping amplitude results
linear flapping trajectories
Online Access:https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2018.0005

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https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2018.0005

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