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물고기 모사로봇 BASEMACK Ⅱ의 가슴지느러미 비정상 유체 해석
권종현(Jong Hyun Kwon),이승희(Seunghee Lee),한철희(Cheolheui Han),박종현(Jong Hyeon Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
Unsteady fluid dynamic characteristics of pectoral fins placed in a water tank are investigated in order to develop the control algorithm of fish-mimicking robot, BASEMACK Ⅱ. The experimental apparatus is composed of a water tank, linear motion components, a 6 axis force/torque sensor, and pectoral fins. The shape of pectoral fins of the BASEMACK Ⅱ is fabricated by mimicking shark's pectoral fins. By changing the linear acceleration rates, the pitch angles, and the cruise velocity, the hydrodynamic characteristics of the pectoral fins are investigated.
김동희(Donghee Kim),이승희(Seunghee Lee),권종현(Jonghyun Kwon),한철희(Cheolheui Han),박종현(Jong Hyeon Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.