IROS 2015 Paper Abstract


Paper ThAP.8

Li, Liang (Peking University), Xie, Guangming (Peking University)

Online Power Detection and Velocity Evaluation for a Schooling Robotic Fish in a Side-By-Side Array

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Biologically-Inspired Robots 1, Biomimetics, Swarm Robotics


To uncover the hydrodynamic mechanisms in free swimming fish schools, researchers have developed series of physical models, such as filaments in a flowing soap. To carry out these experiments with these apparatus, schooling robot fish should be fixed and swimming in a laminar flow. In this poster, we study the hydrodynamic features in a self-propelled schooling robotic fish using an online power detection module and automated speed tracking platform. Comparing to previous physical models, a novel physical apparatus is endowed with self-propulsion by body undulation, online power detection and automated speed evaluation. Using this platform, we test and compare the power consumption and velocity of each robotic fish swimming in a side-by-side configuration with different phase difference. We find that, for the robotic fish swimming in a school, one of them saves energy while the other consumes more. And there is positive correction between the power consumption and the swimming speed. For in-phase swimming, the schooling robotic fish exhibit the maximum efficiency. While for out-of-phase swimming, the robotic fish swim fastest.



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