Biomimetic Stingray-like Robotic Fish with Propulsors Based on IPMC Actuators

被引：2
|
作者：
Karelin, Alexandr M. [1 ]
Orekhov, Yuriy D. [1 ]
Khmelnitskiy, Ivan K. [1 ]
Aivazyan, Vagarshak M. [1 ]
Testov, Dmitriy O. [1 ]
机构：
[1] St Petersburg Electrotech Univ LETI, St Petersburg, Russia
来源：
PROCEEDINGS OF THE 2021 IEEE CONFERENCE OF RUSSIAN YOUNG RESEARCHERS IN ELECTRICAL AND ELECTRONIC ENGINEERING (ELCONRUS) | 2021年
基金：
俄罗斯科学基金会;
关键词：
ionic polymer-metal composite; IPMC actuators; biomimetic robot; stingray-like propulsors; robotic fish;
D O I：
10.1109/ElConRus51938.2021.9396483
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A swimming robot with stingray-like propulsors was developed using twelve drives based on IPM. actuators and two tail fins. The propulsor consists of an active part (six polymer actuators connected in parallel) and a passive part. Such propulsors are located on the sides in the middle of the system and make translational motions "up and down". An autonomous remote control system was developed for its control. In addition, an algorithm for the lateral fin movement was developed to make the translational motion of the robotic fish forward. The maximum motion speed of the developed system was 40 mm/s at a frequency of 0.4 Hz.
引用
收藏
页码：922 / 925
页数：4
相关论文
共 49 条
  • [1] Motion control for a stingray-like robotic fish with undulating pectoral fins
    Wang, Yangwei
    Gu, Baotong
    Tan, Jinbo
    Sang, Pengfei
    Key Engineering Materials, 2014, 620 : 502 - 507
  • [2] Experimental investigation of biomimetic robotic fish actuated by IPMC
    Shen, Qi
    Han, Chenhao
    Wang, Tianmiao
    Liang, Jianhong
    Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2014, 40 (12): : 1730 - 1735
  • [3] Design and Experiment on a Biomimetic Robotic Fish Inspired by Freshwater Stingray
    Wang, Yangwei
    Tan, Jinbo
    Zhao, Dongbiao
    JOURNAL OF BIONIC ENGINEERING, 2015, 12 (02) : 204 - 216
  • [4] Design and Experiment on a Biomimetic Robotic Fish Inspired by Freshwater Stingray
    Yangwei Wang
    Jinbo Tan
    Dongbiao Zhao
    Journal of Bionic Engineering, 2015, 12 : 204 - 216
  • [5] Erratum to: “Design and Experiment on a Biomimetic Robotic Fish Inspired by Freshwater Stingray”
    Yangwei Wang
    Jinbo Tan
    Dongbiao Zhao
    Journal of Bionic Engineering, 2015, 12 : 371 - 371
  • [6] HYDRODYNAMIC INTERACTIONS IN FISH-LIKE ROBOTIC SWARMS WITH FLEXIBLE PROPULSORS
    Menzer, Alec
    Lengkong, Theodore
    Ni, Di
    Nagpal, Radhika
    Dong, Haibo
    PROCEEDINGS OF ASME 2024 FLUIDS ENGINEERING DIVISION SUMMER MEETING, VOL 1, FEDSM 2024, 2024,
  • [7] Neural-based Control of Modular Robotic Fish with Multiple Propulsors
    Hu, Yonghui
    Zhao, Wei
    Wang, Long
    Jia, Yingmin
    47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 5232 - 5237
  • [8] A Remote Operated Robotic Fish with Temperature Sensor Based on IPMC Actuator
    Liu, Bin
    Hao, Lina
    Deng, Jun
    Liu, Xin
    CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS, 2009, : 5730 - +
  • [9] Design and Experiment on a Biomimetic Robotic Fish Inspired by Freshwater Stingray (vol 12, pg 204, 2015)
    Wang, Yangwei
    Tan, Jinbo
    Zhao, Dongbiao
    JOURNAL OF BIONIC ENGINEERING, 2015, 12 (03) : 371 - 371
  • [10] A Fuzzy Control Based Robotic Fish with Multiple Actuators
    Lee, Pei-Jun
    Lee, Meng-Shiue
    Wang, Ruei-Chan
    INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2012, 14 (01) : 45 - 53
12345