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dc.contributor.authorHou, Piqi
dc.contributor.authorYe, Zhihang
dc.contributor.authorChen, Zheng
dc.identifier.citationHou P, Ye Z, Chen Z. Bio-Inspired Robotic Fish Propelled by Multiple Artificial Fins. ASME. Dynamic Systems and Control Conference, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation ():V001T03A005en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractWith advances in actuation and sensing, smart materials has drawn a growing attention from researchers in under water robotic fish. In this paper, a compact, noiseless, and untethered biomimetic robotic fish propelled by Ionic Polymer-Metal Composite (IPMC) actuators is developed. The robot fish employs two pectoral fins to generate steering and one caudal fin to generate main propulsion. A passive plastic fin is attached to the IPMC beam to enhance propulsion. With multiple IPMC fins, the fish is capable of 2D maneuvering. One small size programmable circuit board is designed for the 2D controllable fish. The Experimental results have shown that the forward-swimming speed can reach up to lcm/sec and the both left-turning and right turning speed can reach up to 2 rad/sec.en_US
dc.description.sponsorshipNational Science Foundation under the Grant CNS#1446557.en_US
dc.publisherAmerican Society of Mechanical Engineersen_US
dc.relation.ispartofseriesASME 2016 Dynamic Systems and Control Conference;v.1
dc.titleBio-inspired robotic fish propelled by multiple artificial finsen_US
dc.typeConference paperen_US
dc.rights.holderCopyright 2016 by ASMen_US

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