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Optimal Control of a Mackerel-Mimicking Robot for Energy Efficient Trajectory Tracking

C. Han, S. Lee, J. Park

Abstract


A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel’s Carangiform motion. Hydrodynamic
characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming with the given
trajectory. The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, a numerical simulation of the fish-mimicking robot is studied.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.599

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