Full Content is available to subscribers

Subscribe/Learn More  >

Dynamic Modeling of a Compliant Tail-Propelled Robotic Fish

[+] Author Affiliations
Vladislav Kopman, Jeffrey Laut, Maurizio Porfiri

Polytechnic Institute of New York University, Brooklyn, NY

Francesco Acquaviva, Alessandro Rizzo

Politecnico di Bari, Bari, Italy

Paper No. DSCC2013-3787, pp. V001T08A001; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


This paper presents a dynamic model for a class of robotic fish propelled by a tail with a flexible fin. The robot is comprised of a rigid frontal link acting as a body and a rear link serving as the tail. The tail includes a rigid component, hinged to the body through a servomotor, which is connected to a compliant caudal fin whose underwater vibration induces the propulsion. The robot’s body dynamics is modeled using Kirchhoff’s equations of motion of bodies in quiescent fluids, while its tail motion is described with Euler-Bernoulli beam theory, accounting for the effect of the encompassing fluid through the Morison equation. Simulation data of the model is compared with experimental data. Applications of the model include simulation, prediction, design optimization, and control.

Copyright © 2013 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In