Fast Dynamics of an Eel-Like Robot-Comparisons With Navier-Stokes Simulations

This paper proposes a dynamic model of the swim of elongated fish suited to the online control of biomimetic eel-like robots. The approach can be considered as an extension of the original reactive ldquolarge elongated body theoryrdquo of Lighthill to the 3-D self-propulsion to which a resistive emp...

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Bibliographic Details
Published in:IEEE transactions on robotics 2008-12, Vol.24 (6), p.1274-1288
Main Authors: Boyer, F., Porez, M., Leroyer, A., Visonneau, M.
Format: Article
Language:English
Subjects:
Algorithms
Applied sciences
Biomimetics
Biorobotics
Calibration
Capacitive sensors
Computer science
control theory
systems
Computer simulation
Control theory. Systems
Design engineering
eel-like robots
Elongation
Exact sciences and technology
Fish
Gait
Heuristic algorithms
Marine animals
Mathematical models
Motion control
Navier-Stokes equations
Robotics
Robots
Simulation
Strain control
swim dynamics
Testing
Torque control
underwater vehicle
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Summary:This paper proposes a dynamic model of the swim of elongated fish suited to the online control of biomimetic eel-like robots. The approach can be considered as an extension of the original reactive ldquolarge elongated body theoryrdquo of Lighthill to the 3-D self-propulsion to which a resistive empirical model has been added. While all the mathematical fundamentals have been detailed by Boyer . (http://www.irccyn.ec-nantes.fr/hebergement/Publications/2007/3721.pdf, 2007), this paper essentially focuses on the numerical validation and calibration of the model and the study of swimming gaits. The proposed model is coupled to an algorithm allowing us to compute the motion of the fish head and the field of internal control torque from the knowledge of the imposed internal strain fields. Based on the Newton-Euler formalism of robot dynamics, this algorithm works faster than real time. As far as precision is concerned, many tests obtained with several planar and 3-D gaits are reported and compared (in the planar case) with a Navier-Stokes solver, which, until today have been devoted to the planar swim. The comparisons obtained are very encouraging since in all the cases we tested, the differences between our simplified and reference simulations do not exceed 10%.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.2006249