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Optimization of Input Parameters by Using DOE for Dynamic Analysis of Bio-inspired Robotic Fish 'Ichthus'

생체모방형 물고기 로봇 '익투스'의 동적 해석을 위한 DOE를 이용한 입력파라미터 최적화

  • 정창현 (과학기술연합대학원대학교 지능형로봇공학과) ;
  • 이상효 (과학기술연합대학원대학교 지능형로봇공학과) ;
  • 김경식 (한국생산기술연구원) ;
  • 차유성 (한국생산기술연구원) ;
  • 류영선 (한국생산기술연구원/UST 지능형로봇공학과)
  • Received : 2010.04.16
  • Accepted : 2010.06.10
  • Published : 2010.08.01

Abstract

Recently, there is a rising interest on studying bio-inspired robotic fish because of real fish's great maneuverability and high energy efficiency. However, the researches about the robotic fish have not been done so much and there are still lots of problems to use them in the real environment such as in the river. This paper describes a bio-inspired robotic fish 'Ichthus' which is developed in KITECH and has 3 DOF propulsive mechanism. We develop the dynamic motion equation of 'Ichthus' in the underwater environment and analyze response characteristics of 'Ichthus' according to the input parameters of tail fin's amplitude and oscillation frequency. Then we propose control parameters at the various velocities. These parameters are useful to increase energy efficiency and it can be used when the fish robot moves in the real environment, for example, we can propose proper amplitude and oscillation frequency when the fish robot passes through the narrow space between obstacles.

Keywords

References

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Cited by

  1. Swimming Plans for a Bio-inspired Articulated Underwater Robot vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9023