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Backward swimming gaits for a carangiform robotic fish

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Abstract

This paper focuses on the gaits planning method of the backward swimming for unsymmetrical structure bio-inspired robotic fish. Based on the differences between the anguilliform mode and carangiform mode swimming, a method for searching gaits of backward swimming was proposed to plan the motion of the developed carangiform robotic fish. The body envelope of European eel’s backward swimming was mimicked according to the freely swimming model, which was proposed to analyze the propulsion produced by the undulation of the multi-link tail. Finally, simulations and experiments were conducted to demonstrate the gaits searching method for the bio-inspired carangiform robotic fish.

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Acknowledgments

The research work was supported by the National Natural Science Foundation of China (no. 61105105, 60805038, 51175496).

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Authors and Affiliations

  1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Chao Zhou, Zhiqiang Cao, Zeng-Guang Hou, Shuo Wang & Min Tan

Authors
  1. Chao Zhou
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  2. Zhiqiang Cao
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  3. Zeng-Guang Hou
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  4. Shuo Wang
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  5. Min Tan
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Corresponding author

Correspondence to Chao Zhou.

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Chao Zhou and Zhiqiang Cao contributed equally to this work.

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Zhou, C., Cao, Z., Hou, ZG. et al. Backward swimming gaits for a carangiform robotic fish. Neural Comput & Applic 23, 2015–2021 (2013). https://doi.org/10.1007/s00521-012-1106-z

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  • DOI: https://doi.org/10.1007/s00521-012-1106-z

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