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Bio-Inspired Robotic Fish Propelled by Multiple Artificial Fins

[+] Author Affiliations
Piqi Hou, Zhihang Ye, Zheng Chen

Wichita State University, Wichita, KS

Paper No. DSCC2016-9915, pp. V001T03A005; 6 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


With advances in actuation and sensing, smart materials has drawn a growing attention from researchers in under water robotic fish. In this paper, a compact, noiseless, and untethered biomimetic robotic fish propelled by Ionic Polymer-Metal Composite (IPMC) actuators is developed. The robot fish employs two pectoral fins to generate steering and one caudal fin to generate main propulsion. A passive plastic fin is attached to the IPMC beam to enhance propulsion. With multiple IPMC fins, the fish is capable of 2D maneuvering. One small size programmable circuit board is designed for the 2D controllable fish. The Experimental results have shown that the forward-swimming speed can reach up to 1cm/sec and the both left-turning and right turning speed can reach up to 2 rad/sec.

Copyright © 2016 by ASME
Topics: Robotics , Biomimetics , Fins



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