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iSplash-MICRO: A 50mm robotic fish generating the maximum velocity of real fish

Clapham, Richard James and Hu, Huosheng (2014) iSplash-MICRO: A 50mm robotic fish generating the maximum velocity of real fish. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014-09-14 - 2014-09-18.

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Abstract

This paper presents a millimeter scale robotic fish, namely iSplash-MICRO, able to accurately generate the posterior undulatory pattern of the carangiform swimming mode, at intensively high frequencies. Furthermore an investigation into anterior stabilization was made in an attempt to reduce the large kinematic errors and optimize forces around the center of mass. Applying large scale dorsal and pelvic fins relative to body size enabled predictable optimization of the anterior and posterior displacements. During the field trials, the small fish with a length of 50mm has generated an equivalent average maximum velocity to real fish, measured in body lengths/ second (BL/s), greatly improving previous man-made systems, achieving a consistent free swimming speed of 10.4BL/s (0.52m/s) at 19Hz with a low energy consumption of 0.8 Watts.

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
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 21 Jul 2015 09:52
Last Modified: 15 Jan 2022 00:41
URI: http://repository.essex.ac.uk/id/eprint/14317

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