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A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics

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Abstract

In this paper, we analyze a propulsive force generated from pectoral fins for a rajiform-type fish robot from fluid dynamic aspects. A pectoral fin of the rajiform-type fish robot is constructed by multiple fin rays, which move independently, and a film of pushing water. Then, the propulsive force of the fish robot is analyzed from the momentum of the fluid surrounding for every fin between fin rays. The total propulsive force for one pectoral fin is the sum of these momenta. The propulsive speed of a fish robot is determined from the difference of the propulsive force generated from pectoral fins, and the resistance force that the fish robot receives from the water when moving forward. The effectiveness of the proposed method is examined through numerical simulation and actual experimental results.

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Authors and Affiliations

  1. Division of Industrial Innovation Sciences, Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, Okayama, 700-8530, Japan

    Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe & Isaku Nagai

Authors
  1. Masaaki Ikeda
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  2. Shigeki Hikasa
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  3. Keigo Watanabe
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  4. Isaku Nagai
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Corresponding author

Correspondence to Masaaki Ikeda.

Additional information

This work was presented in part at the 18th International Symposium on Artificial Life and Robotics, Daejeon, Korea, January 30–February 1, 2013.

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Ikeda, M., Hikasa, S., Watanabe, K. et al. A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics. Artif Life Robotics 19, 136–141 (2014). https://doi.org/10.1007/s10015-013-0142-9

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  • DOI: https://doi.org/10.1007/s10015-013-0142-9

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