ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.24

Kruusmaa, Maarja (Tallinn University of Technology), Salumae, Taavi (Tallinn University of Technology), Toming, Gert (Tallinn University of Technology), Ernits, Andres (Tallinn University of Technology), Ježov, Jaas (ttu center for biorobotics)

Swimming Speed Control and On-Board Flow Sensing of an Artificial Trout

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Marine Robotics, Biologically-Inspired Robots, Biomimetics


This paper describes a sensing-actuation coupling of a robotic trout that detects changes of the laminar flow speed using an on-board pressure sensor and adjusts its tail-beat frequency for steady swimming. The caudal fin actuator closely mimics the morphology of a real trout, in particular the geometry, stiffness and stiffness distribution of the body and the caudal fin. We hypothesize that the linear relationship between the tail-beat frequency and speed, well-known and proven to hold for all fish studied so far, also holds for an artificial fish. We validate the hypothesis and use the results to derive a linear control law to adjust the tail-beat frequency to the swimming speed. We use an onboard pressure sensor to detect the flow speed and test the actuation in a controlled hydrodynamic environment in a flow pipe.



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