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2D maneuverable robotic fish propelled by multiple ionic polymer–metal composite artificial fins

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An Erratum to this article was published on 14 August 2017

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Abstract

Bio-inspired robotic fish are proving to be promising underwater vehicles whose high propulsion efficiency, stealth, and compact size make them suitable for remote sensing missions in intelligence collection, environmental monitoring, and fishing agriculture. In this research, a two-dimensional (2D), maneuverable, bio-inspired robotic fish propelled by multiple ionic polymer-metal composite artificial fins was developed. The movement of this fish, equipped with one caudal fin and two pectoral fins, was then modeled by a nonlinear dynamic model for design and control purposes. Experiments were conducted to verify the model’s capabilities of characterizing the robotic fish’s 2D movement. The forward-swimming speed reached about 12 mm/s and the turning speed reached about 2.5 deg/s.

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  • 14 August 2017

    An erratum to this article has been published.

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Acknowledgements

This research was supported in part by the National Science Foundation under grant CNS #1446557 and Wichita State University under the University Research/Creative Projects Award (URCA).

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Authors and Affiliations

  1. Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, 67260-0083, USA

    Zhihang Ye, Piqi Hou & Zheng Chen

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  1. Zhihang Ye
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  2. Piqi Hou
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  3. Zheng Chen
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Correspondence to Zheng Chen.

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An erratum to this article is available at https://doi.org/10.1007/s41315-017-0032-8.

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Ye, Z., Hou, P., Chen, Z. et al. 2D maneuverable robotic fish propelled by multiple ionic polymer–metal composite artificial fins. Int J Intell Robot Appl 1, 195–208 (2017). https://doi.org/10.1007/s41315-017-0019-5

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