Skip to main content
SpringerLink
Log in

A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

In this paper, we analyze a propulsive force generated from pectoral fins for a rajiform-type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform-type fish robot is constructed by multiple fin rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsive speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the proposed method is examined through numerical simulation and actual experimental results.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Yuh J (1994) Learning control for underwater robotic vehicles. IEEE Control Syst Mag 14(2):39–46

    Article  Google Scholar 

  2. Yuh J (2000) Design and control of autonomous underwater robots: a survey. Auton Rob 8(1):7–24

    Article  Google Scholar 

  3. Watanabe K, Izumi K (2008) Skilful control for underactuated robot systems: from the ground to the air and underwater. In: Proceedings of the 2nd international conference on underwater system technology: theory and applications 2008 (USYS ’08), pp 4–5

  4. Watanabe K, Izumi K, Okamura K, Syam R (2008) Discontinuous underactuated control for lateral X4 autonomous underwater vehicles. In: Proceedings of the 2nd international conference on underwater system technology: theory and applications 2008 (USYS ’08), Paper ID 14

  5. Zain ZM, Watanabe K, Izumi K, Nagai I (2013) A discontinuous exponential stabilization law for an underactuated X4-AUV. Artif Life Rob 17(3-4):463–469

    Article  Google Scholar 

  6. Ynag S, Qiu J, Han X (2009) Kinematics modeling and experiments of pectoral oscillation propulsion robotic fish. J Bionic Eng 6:174–179

    Article  Google Scholar 

  7. Zhou C, Low KH (2012) Design and locomotion control of a biomimetic underwater vehicle with fin propulsion. IEEE/ASME Trans Mechatron 17(1):25–35

    Article  Google Scholar 

  8. Seo K, Chung SJ, Slotine JJE (2010) CPG-based control of a turtle-like underwater vehicle. Auton Rob 28(3):247–269

    Article  Google Scholar 

  9. Chi W, Low KH (2012) Review and fin structure design for robotic manta ray (RoMan IV). J Rob Mechatron 24(4):620–628

    Google Scholar 

  10. Wei-shan C, Zhi-jun W, Jun-kao L, Sheng-jun S, Yang Z (2011) Numerical simulation of batoid locomotion. J Hydrodyn 23(5):594–600

    Article  Google Scholar 

  11. Kato N, Ando Y, Ariyoshi T, Suzuki H, Suzumori K, Endo S (2008) Elastic pectoral fin actuators for biomimetic underwater vehicles. In: Kato N, Kamimura S (eds) Bio-mechanisms of swimming and flying. Springer, New York, pp 271–282

    Chapter  Google Scholar 

  12. Lin L, Xie H, Zhang D, Shen L (2010) Supervised neural Q_learning based motion control for bionic underwater robots. J Bionic Eng 7:S177–S184

    Article  Google Scholar 

  13. Collins JJ, Richmond SA (1994) Hard-wired central pattern generators for quadrupedal locomotion. Biol Cybern 71(5):375–385

    Article  MATH  Google Scholar 

  14. Sitorus PE, Nazaruddin YY, Leksono E, Budiyono A (2009) Design and implementation of paired pectoral fins locomotion of labriform fish applied to a fish robot. J Bionic Eng 6(1):37–45

    Article  Google Scholar 

  15. Kato N (2000) Control performance in the horizontal plane of a fish robot with mechanical pectoral fins. IEEE J Oceanic Eng 25(1):121–129

    Article  Google Scholar 

  16. Crespi A, Lachat D, Pasquier A (2008) Controlling swimming and crawling in a fish robot using a central pattern generator. Auton Rob 25(1–2):3–13

    Article  Google Scholar 

  17. Hu T, Shen L, Lin L, Xu H (2009) Biological inspirations, kinematics modeling, mechanism design and experiments on an undulating robotic fin inspired by Gymnarchus Niloticus. Mech Mach Theory 4(3):633–645

    Article  Google Scholar 

  18. Low KH (2009) Modelling and parametric study of modular undulating fin rays for fish robots. Mech Mach Theory 44(3):615–632

    Article  MATH  Google Scholar 

  19. Yu J, Tan M, Wang S, Chen E (2004) Development of a biomimetic robotic fish and its control algorithm. IEEE Trans Syst Man Cybern B Cybern 34(4):1789–1810

    Article  Google Scholar 

  20. Wang T, Wen L, Liang J, Wu G (2010) Fuzzy vorticity control of a biomimetic robotic fish using a flapping lunate tail. J Bionic Eng 7(1):56–65

    Article  Google Scholar 

  21. Fish FE, Haj-Hariri H, Smits AJ, Bart-Smith H, Iwasaki T (2011) Biomimetic swimmer inspired by the manta ray. In: Bar-Cohen Y (ed) Biomimetics: nature-based innovation. CRC Press, London, pp 495–523

    Google Scholar 

  22. Mochizuki O, Ichikawa S (2010) Fluid dynamics learned from bionics. Yokendo, Tokyo (in Japanese)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Division of Industrial Innovation Sciences, Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, Okayama, 700-8530, Japan

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe & Isaku Nagai

Authors
  1. Masaaki Ikeda
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shigeki Hikasa
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Keigo Watanabe
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Isaku Nagai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Masaaki Ikeda.

Additional information

This work was presented in part at the 18th International Symposium on Artificial Life and Robotics, Daejeon, Korea, January 30–February 1, 2013.

About this article

Cite this article

Ikeda, M., Hikasa, S., Watanabe, K. et al. A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics. Artif Life Robotics 19, 136–141 (2014). https://doi.org/10.1007/s10015-013-0142-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-013-0142-9

Keywords

Search

Navigation