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ISplash-II: Realizing fast carangiform swimming to outperform a real fish

Clapham, RJ and Hu, H (2014) ISplash-II: Realizing fast carangiform swimming to outperform a real fish. In: UNSPECIFIED, ? - ?.

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Abstract

© 2014 IEEE. This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high frequencies to obtain high-speed propulsion. The lateral and thrust forces were optimized around the center of mass, generating accurate kinematic displacements and greatly increasing the magnitude of added mass. The prototype, with a length of 32cm has significantly increased the linear swimming speed of robotic fish, achieving consistent untethered stabilized swimming speeds of 11.6BL/s (i.e. 3.7m/s), with a frequency of 20Hz.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: IEEE International Conference on Intelligent Robots and Systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 21 Jul 2015 09:59
Last Modified: 17 Aug 2017 17:35
URI: http://repository.essex.ac.uk/id/eprint/14316

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