Development of a biomimetic robotic fish and its control algorithm
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper addresses the locomotion control for a biomimetic amphibious robot capable of multi-mode motion both in water and on land. Currently, a wheel-like device named wheel-paddle is employed as the primary driving mode. Depending on the deflections of rear propelling units, a body-deformation based steering approach is proposed, and an optimal realization is explored through geometrical analysis. Furthermore, the kinematic models as well as corresponding simulation results are outlined and the error between two models is also summarized. The experimental results demonstrate the validity, stability and maneuverability of the formed steering, satisfying robot's operation requirements on land.