Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion
This work focuses on developing a complete non-linear dynamic model comprising entirely kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors of a real carp. In order to imitate biological features, swimming patterns of a...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-01-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2076-3417/8/2/180 |
| _version_ | 1831670167619239936 |
|---|---|
| author | Gonca Ozmen Koca Cafer Bal Deniz Korkmaz Mustafa Can Bingol Mustafa Ay Zuhtu Hakan Akpolat Seda Yetkin |
| author_facet | Gonca Ozmen Koca Cafer Bal Deniz Korkmaz Mustafa Can Bingol Mustafa Ay Zuhtu Hakan Akpolat Seda Yetkin |
| author_sort | Gonca Ozmen Koca |
| collection | DOAJ |
| description | This work focuses on developing a complete non-linear dynamic model comprising entirely kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors of a real carp. In order to imitate biological features, swimming patterns of a real carp for forward, turning and up-down motions are analyzed by using the Kineova 8.20 software. The proportional optimum link lengths according to actual size, swimming speed, flapping frequency, proportional physical parameters and different swimming motions of the real carp are investigated with the designed robotic fish model. Three-dimensional (3D) locomotion is evaluated by tracking two trajectories in a MATLAB environment. A Reaching Law Control (RLC) approach for inner loop (Euler angles-speed control) and a guidance system for the outer loop (orientation control) are proposed to provide an effective closed-loop control performance. In order to illustrate the 3D performance of the proposed closed loop control system in a virtual reality platform, the designed robotic fish model is also implemented using the Virtual Reality Modeling Language (VRML). Simulation and experimental analysis show that the proposed model gives us significant key solutions to design a fish-like robotic prototype. |
| first_indexed | 2024-12-19T23:12:36Z |
| format | Article |
| id | doaj.art-6df7215d4a6d42959acad6dd88116cd7 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-19T23:12:36Z |
| publishDate | 2018-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-6df7215d4a6d42959acad6dd88116cd72022-12-21T20:02:11ZengMDPI AGApplied Sciences2076-34172018-01-018218010.3390/app8020180app8020180Three-Dimensional Modeling of a Robotic Fish Based on Real Carp LocomotionGonca Ozmen Koca0Cafer Bal1Deniz Korkmaz2Mustafa Can Bingol3Mustafa Ay4Zuhtu Hakan Akpolat5Seda Yetkin6Department of Mechatronics Engineering, University of Firat, Elazig 23119, TurkeyDepartment of Mechatronics Engineering, University of Firat, Elazig 23119, TurkeyDepartment of Electrical and Electronics Engineering, University of Firat, Elazig 23119, TurkeyDepartment of Mechatronics Engineering, University of Firat, Elazig 23119, TurkeyDepartment of Mechatronics Engineering, University of Firat, Elazig 23119, TurkeyDepartment of Mechatronics Engineering, University of Firat, Elazig 23119, TurkeyDepartment of Electronics and Automation, University of Bitlis Eren, Bitlis 13000, TurkeyThis work focuses on developing a complete non-linear dynamic model comprising entirely kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors of a real carp. In order to imitate biological features, swimming patterns of a real carp for forward, turning and up-down motions are analyzed by using the Kineova 8.20 software. The proportional optimum link lengths according to actual size, swimming speed, flapping frequency, proportional physical parameters and different swimming motions of the real carp are investigated with the designed robotic fish model. Three-dimensional (3D) locomotion is evaluated by tracking two trajectories in a MATLAB environment. A Reaching Law Control (RLC) approach for inner loop (Euler angles-speed control) and a guidance system for the outer loop (orientation control) are proposed to provide an effective closed-loop control performance. In order to illustrate the 3D performance of the proposed closed loop control system in a virtual reality platform, the designed robotic fish model is also implemented using the Virtual Reality Modeling Language (VRML). Simulation and experimental analysis show that the proposed model gives us significant key solutions to design a fish-like robotic prototype.http://www.mdpi.com/2076-3417/8/2/180dynamic modelrobotic fishtrajectory trackingbiomimetic modelingfish-like motion |
| spellingShingle | Gonca Ozmen Koca Cafer Bal Deniz Korkmaz Mustafa Can Bingol Mustafa Ay Zuhtu Hakan Akpolat Seda Yetkin Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion Applied Sciences dynamic model robotic fish trajectory tracking biomimetic modeling fish-like motion |
| title | Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion |
| title_full | Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion |
| title_fullStr | Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion |
| title_full_unstemmed | Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion |
| title_short | Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion |
| title_sort | three dimensional modeling of a robotic fish based on real carp locomotion |
| topic | dynamic model robotic fish trajectory tracking biomimetic modeling fish-like motion |
| url | http://www.mdpi.com/2076-3417/8/2/180 |
| work_keys_str_mv | AT goncaozmenkoca threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion AT caferbal threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion AT denizkorkmaz threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion AT mustafacanbingol threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion AT mustafaay threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion AT zuhtuhakanakpolat threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion AT sedayetkin threedimensionalmodelingofaroboticfishbasedonrealcarplocomotion |