A study on control method for a fish type robot by artificial muscle

Satoru Yamaguchi; Masashi Terada

A study on control method for a fish type robot by artificial muscle

Satoru Yamaguchi, Masashi Terada

Marine Systems Design

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper deals with development of a motion control method for fish type robots using a mechanism composed of a shape-memory alloy type artificial muscle and a robotic mechanism which mimics the swimming motion of a subcarangiform fish. The characteristics of the motion mechanism were first examined by model experiments and the swimming performance of the robot was tested in an experimental tank. The effectiveness of the motion mechanism was examined based on the experimental results using motion pictures taken by a digital video camera. Control techniques for the robot to realize forward movement and sudden acceleration were developed based on the results of observed fish motions.

Original language	English
Title of host publication	Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
Pages	254-259
Number of pages	6
Publication status	Published - 2006
Event	16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 - San Francisco, CA, United States Duration: May 28 2006 → Jun 2 2006

Publication series

Name	Proceedings of the International Offshore and Polar Engineering Conference
ISSN (Print)	1098-6189
ISSN (Electronic)	1555-1792

Other

Other	16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
Country/Territory	United States
City	San Francisco, CA
Period	5/28/06 → 6/2/06

All Science Journal Classification (ASJC) codes

Mechanical Engineering
Energy Engineering and Power Technology
Ocean Engineering

Cite this

A study on control method for a fish type robot by artificial muscle. / Yamaguchi, Satoru; Terada, Masashi.
Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006. 2006. p. 254-259 (Proceedings of the International Offshore and Polar Engineering Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamaguchi, S & Terada, M 2006, A study on control method for a fish type robot by artificial muscle. in Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006. Proceedings of the International Offshore and Polar Engineering Conference, pp. 254-259, 16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006, San Francisco, CA, United States, 5/28/06.

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AB - This paper deals with development of a motion control method for fish type robots using a mechanism composed of a shape-memory alloy type artificial muscle and a robotic mechanism which mimics the swimming motion of a subcarangiform fish. The characteristics of the motion mechanism were first examined by model experiments and the swimming performance of the robot was tested in an experimental tank. The effectiveness of the motion mechanism was examined based on the experimental results using motion pictures taken by a digital video camera. Control techniques for the robot to realize forward movement and sudden acceleration were developed based on the results of observed fish motions.

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A study on control method for a fish type robot by artificial muscle

Abstract

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All Science Journal Classification (ASJC) codes

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