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Related Experiment Videos

Development of a biomimetic robotic fish and its control algorithm.

Junzhi Yu1, Min Tan, Shuo Wang

  • 1Laboratory of Complex Systems and Intelligence Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China. jzyu@compsys.ia.ac.cn

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|October 7, 2004
PubMed
Summary

This study presents a biomimetic robotic fish with advanced motion control. The developed hybrid and fuzzy logic controllers effectively manage speed and orientation for precise robotic fish navigation.

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Area of Science:

  • Robotics
  • Biomimetics
  • Control Systems Engineering

Background:

  • Designing effective robotic fish requires overcoming complex hydrodynamic and dynamic challenges.
  • Precise analytical modeling of robotic fish motion is often infeasible due to environmental and mechanical complexities.
  • Biomimetic approaches offer a promising avenue for developing efficient underwater robotic systems.

Purpose of the Study:

  • To design and develop a biomimetic robotic fish with a flexible posterior body and oscillating foil propeller.
  • To implement and evaluate advanced motion control algorithms for regulating the robotic fish's speed and orientation.
  • To demonstrate the effectiveness of a hybrid control strategy, PID control, and fuzzy logic control for robotic fish navigation.

Main Methods:

Related Experiment Videos

  • A four-link, radio-controlled biomimetic robotic fish was constructed.
  • Online speed control utilized a hybrid strategy combined with a proportional-integral-derivative (PID) control algorithm.
  • Orientation control was achieved using a fuzzy logic controller, with a point-to-point (PTP) algorithm and overhead vision feedback for experiments.

    • Main Results:

    • The robotic fish demonstrated effective speed modulation via joint oscillating frequency adjustments.
    • Orientation control was successfully managed through differential joint deflections.
    • Experimental validation confirmed the efficacy of the integrated control systems for precise robotic fish movement.

    Conclusions:

    • The developed biomimetic robotic fish and its control algorithms are effective for underwater navigation.
    • The hybrid and fuzzy logic control strategies provide robust solutions for complex robotic fish motion control.
    • This research contributes to advancements in biomimetic robotics and autonomous underwater vehicle technology.