Step function based turning maneuvers in biomimetic robotic fish

Authors:
Junzhi Yu;Ming Wang;Min Tan;Y. F. Li
Affiliations:
Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

This paper presents a new turning maneuver generation method for a multilink biomimetic robotic fish, in which smooth step functions are introduced to dynamically trigger directed offsets in active and asymmetric swimming. With the proposed method, three basic turning modes can be unified into a general framework by choosing appropriate step-function combinations and dynamic bias. Furthermore, this method can be employed to maneuver the robotic fish agilely in the path planning, which promises more flexibility and steadiness in potential applications to bio-inspired autonomous underwater vehicles.