Abstract
Motivated by trying a new top-down research mode of the study of fish-like robot related problems, we use a Chinese sturgeon (Acipenser sinensis) as the base model and rebuild the structures and functions of its swimming apparatus in a virtual fish-like robot, especially for its shape, backbone, fins, and muscular system. The mechanical model of fish’s superficial red muscle is established, which is used as the actuator of the virtual fish-like robot. Besides, the virtual fish-like robot also has the same physical and kinematic parameters as the specimen of Chinese sturgeon used in the experiment, such as body length, weight, mass distribution, and undulation parameters etc. Thus, the virtual fish-like robot can mimic the real fish structurally and functionally as realistically as possible, which could be used to perform various virtual experiments and serve as a platform to strengthen the intercrossing between theory and engineering studies of fish-like robot related problems. Furthermore, kinematics simulations of the virtual fish-like robot actuated by fish’s superficial red muscle model are conducted, and the experimental results proved the veracity, rationality, and availability of the design of the virtual fish-like robot.
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Guo, C., Wang, Z. (2008). Design and Simulations of a Virtual Fishlike Robot Actuated by a Muscle Model. In: Kato, N., Kamimura, S. (eds) Bio-mechanisms of Swimming and Flying. Springer, Tokyo. https://doi.org/10.1007/978-4-431-73380-5_18
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DOI: https://doi.org/10.1007/978-4-431-73380-5_18
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-73379-9
Online ISBN: 978-4-431-73380-5
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