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Experimental evaluation of open-loop swimming control for a robotic fish using electrostatic film motors

Published online by Cambridge University Press:  03 June 2009

Norio Yamashita ,
Zu Guang Zhang ,
Akio Yamamoto ,
Masahiko Gondo  and
Toshiro Higuchi
Norio Yamashita
Affiliation:
Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
Zu Guang Zhang*
Affiliation:
Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan
Akio Yamamoto
Affiliation:
Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
Masahiko Gondo
Affiliation:
SEIDENSHA Corporation, SIC-2-404, 5-4-21 Nishi-Hashimoto, Sagamihara, Kanagawa, Japan
Toshiro Higuchi
Affiliation:
Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
*
*Corresponding author. E-mail: hero@rs.noda.tus.ac.jp
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Summary

We have developed an underwater robotic fish using a unique three-layer electrostatic film motor. In the robotic fish, the unique motor actuates a flexible caudal fin to propel the robot via an elaborate power transmission system. In the present study, we describe the major disadvantages of the previous prototype of the robotic fish and improvements of the prototype. In addition, we present experimental evaluations related to the control parameters and locomotion performance of the robotic fish. These control parameters include the frequency and initial phase of AC voltage, and the amplitude and period of frequency sweeping. A simple theoretical model concerning the power transmission system of the robotic fish is also analyzed to provide a possible explanation for the unique swimming control. By appropriately adjusting these control parameters, we achieve cruising, emerging, submerging, and turning of the robotic fish even though only the caudal fin is active. Finally, we show smooth human-operated turn-around motion similar to that seen in real fish. Based on these experimental results, we further clarify the relationships between the open-loop motor pattern and motion parameters.

Keywords

robotic fish3-lyaer electrostatic film motorpower transmission modelopen-loop swimming controlexperimental evaluation
Type
Article
Information
Robotica , Volume 28 , Issue 3 , May 2010 , pp. 369 - 379
Copyright
Copyright © Cambridge University Press 2009

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