iSplash-II: Realizing fast carangiform swimming to outperform a real fish | IEEE Conference Publication | IEEE Xplore

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


Abstract:

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/ secon...Show More

Abstract:

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.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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