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dc.contributor.authorChen, Zheng
dc.contributor.authorHou, Piqi
dc.contributor.authorYe, Zhihang
dc.identifier.citationChen Z, Hou P, Ye Z. Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail. ASME. J. Dyn. Sys., Meas., Control. 2019;141(7):071001-071001-11en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractIn this paper, a new robotic fish propelled by a hybrid tail, which is actuated by two active joints, is developed. The first joint is driven by a servo motor, which generates flapping motions for main propulsion. The second joint is actuated by a soft actuator, an ionic polymer-metal composite (IPMC) artificial muscle, which directs the propelled fluid for steering. A state-space dynamic model is developed to capture the two-dimensional (2D) motion dynamics of the robotic fish. The model fully captures the actuation dynamics of the IPMC soft actuator, two-link tail motion dynamics, and body motion dynamics. Experimental results have shown that the robotic fish is capable of swimming forward (up to 0.45 body length/s) and turning left and right (up to 40 deg/s) with a small turning radius (less than half a body length). Finally, the dynamic model has been validated with experimental data, in terms of steady-state forward speed and turning speed at steady-state versus flapping frequency.en_US
dc.description.sponsorshipNational Science Foundation (Grant No. CNS #1446557; Funder ID: 10.13039/501100008982).en_US
dc.relation.ispartofseriesJournal of Dynamic Systems, Measurement, and Control;v.141:no.7
dc.subjectDynamic modelsen_US
dc.subjectOrganic conductorsen_US
dc.titleRobotic fish propelled by a servo motor and ionic polymer-metal composite hybrid tailen_US
dc.rights.holder© 2019 ASMEen_US

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