CFD based parameter tuning for motion control of robotic fish.

07:00 EST 14th January 2020 | BioPortfolio

Summary of "CFD based parameter tuning for motion control of robotic fish."

After millions of years of evolution, fishes have been endowed with agile swimming ability to accomplish various behaviourally relevant tasks. In comparison, robotic fish are still quite poor swimmers. One of the unique challenges facing robotic fish is the difficulty in tuning the motion control parameters on the robot directly. This is mainly due to the complex fluid environment robotic fish need to contend with and endurance limitations. To overcome these limitations, we propose a computational fluid dynamics (CFD) simulation platform to first tune the motion control parameters for the computational robotic fish and then refine the parameters by experiments on robotic fish. Within the simulation platform, the body morphology and gait control of the computational robotic fish are designed according to a robotic fish. The gait control is implemented by a central pattern generator (CPG); The CFD simulation is on the basis of a technique called dynamic grid generation. We tested our simulation platform with three basic tasks under active disturbance rejection control (ADRC) and try-and-error-based parameter tuning. Trajectory comparisons between the computational robotic fish and robotic fish verify the effectiveness of our simulation platform. Moreover, power costs and swimming efficiency during the motion control are also analyzed based on the outputs from the simulation platform. Our results indicate that the CFD based simulation platform is powerful and robust, and shed new light on the efficient design and parameter optimization of the motion control of robotic fish.


Journal Details

This article was published in the following journal.

Name: Bioinspiration & biomimetics
ISSN: 1748-3190


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Medical and Biotech [MESH] Definitions

Fish of the genera ONCORHYNCHUS and Salmo in the family SALMONIDAE. They are anadromous game fish, frequenting the coastal waters of both the North Atlantic and Pacific. They are known for their gameness as a sport fish and for the quality of their flesh as a table fish. (Webster, 3d ed).

Food products manufactured from fish (e.g., FISH FLOUR, fish meal).

The most diversified of all fish orders and the largest vertebrate order. It includes many of the commonly known fish such as porgies, croakers, sunfishes, dolphin fish, mackerels, TUNA, etc.

A flour made of pulverized, dried fish or fish parts.

Disorder caused by motion, as sea sickness, train sickness, car sickness, air sickness, or SPACE MOTION SICKNESS. It may include nausea, vomiting and dizziness.

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