3 자유도 물고기 로봇의 동적해석 및 운동파라미터 최적화에 관한 연구

김형석(HyoungSeok Kim),Vo Tuong Quan,이병룡(ByungRyong Lee),유호영 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.10

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot’s motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot’s maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.

인공지능 : 생체 모방형의 아쿠아리움 관상어 로봇 개발

신규재 ( Kyoo Jae Shin ) 한국정보처리학회 2015 정보처리학회 논문지(KTSDE) Vol.4 No.5

In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1’st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.

CPG를 이용한 물고기 모사 로봇의 궤적 추종 제어

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.

물고기의 추진을 모방한 로봇의 개발

조강진(Kang-Jin Cho),박해원(Hae-Won Park),김석우(Seok-Woo Kim),양현석(Hyun-Suk Yang),박영필(Young-Pil Park),박노철(No-Cheol Park) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10

Biological swimmers, such as fish, have several good characteristics that the man-made underwater vehicles do not have. Many scientists calculated efficiency of the fish locomotion and found that it is more efficient than conventional underwater vehicle. And fishes are usually more maneuverable than the conventional underwater vehicles. Some fishes can make a whole turning with the diameter of one body length. Predatory fishes accelerate at 12Gs from stationary state. On the other hand, man-made underwater vehicles suffer from serious lag times in transient response, and their turning radius is larger than that of fishes. Recent underwater vehicle has problems of short battery life due to low efficiency, poor maneuvering ability, and restricted payloads due to large battery size. Therefore we developed a robot that mimics fish locomotion so that we could expect characteristics of fish locomotion from underwater vehicle.

생체모사 물고기 로봇을 이용한 물고기 운동의 유체역학적 해석

한철희(Cheolheui Han),이승희(Seunghee Lee),신창록(Chang-Rok Shin),박종현(Jong Hyeon Park) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5

Fish-mimetic robots or fish-mimetic propulsors have been developed or under construction. A mechanical system cannot have the same functions as bio-organic systems. Thus, the hydrodynamic characteristics of fish locomotion should be well understood in order to develop and control a feasible intelligent fish-mimetic robot with its optimal motion pattern known. In this paper, a mackerel-mimetic robot fish is fabricated in order to understand the hydrodynamic characteristics of fish locomotion. A simplified unsteady flow theory is also applied to the hydrodynamic analysis of the motion of the anterior part of the robotic fish. The normal and axial forces of the fish are measured by changing the amplitude and frequencies of fanning motion. It is found that the present theoretical results agree with the measured data.

Development of Biomimetic Underwater Vehicle using Single Actuator

전명재(Myoung Jae Jun),김동형(Dong Hyung Kim),최현석(Hyeun Seok Choi),한창수(Chang Soo Han) Korean Society for Precision Engineering 2016 한국정밀공학회지 Vol.33 No.7

In this paper, we propose a novel propulsion method for a Biomimetic underwater robot, which is a bio-inspired approach. The proposed propulsion method mimics the pectoral fins of a real fish. Pectoral fins of real fish are able to propel and change direction. We designed the propulsion mechanism of 1 D.O.F. that has two functions (propel and change direction). We named this propulsion system ’Flipper’. The proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made an experimental underwater robot system and verified the proposed propulsion method. We measured its maximum speed and turning motion using an experimental underwater robot system. We also analyzed the thrust force from the maximum speed, using the thrust equation. Experimental results showed that our propulsion method enabled the thrust system of the biomimetic robot.

인조 꼬리지느러미가 압전작동기 구동형 생체모사 물고기 로봇의 성능에 미치는 영향

허석(Seok Heo),박훈철(Hoon Cheol Park),테디 위구나(Wiguna Tedy),구남서(Nam Seo Goo) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5

This paper presents an experimental and parametric study of a biomimetic fish robot actuated by the Lightweight Piezo-composite Actuator(LIPCA). The biomimetic aspects in this work are the oscillating tail beat motion and shape of caudal fin. Caudal fins that resemble fins of BCF(Body and Caudal fin) mode fish were made in order to perform parametric study concerning the effect of caudal fin characteristics on thrust production at an operating frequency range. The observed caudal fin characteristics are the shape, area, and aspect ratio. It was found that a high aspect ratio caudal fin contributes to high swimming speed. The fish robot was propelled by artificial caudal fins shaped after thunniform-fish and mackerel caudal fins, which have relatively high aspect ratio, produced swimming speed as high as 2.364 ㎝/s and 2.519 ㎝/s, respectively, for 300 Vpp input voltage excited at 0.9 ㎐. Thrust performance of the biomimetic fish robot was examined by Strouhal number, Froude number, Reynolds number, and Net forward force.

전자기 구동 유영 마이크로로봇

변동학(Donghak Byun),김준영(Junyoung Kim),백승만(Seungman Baek),최현철(Hyunchul Choi),박종오(Jong-oh Park),박석호(Sukho Park) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.11

The various electromagnetic based actuation(EMA) methods have been proposed for actuating microrobot. The advantage of EMA is that it can provide wireless driving to microrobot. In this reason a lot of researchers have been focusing on the EMA driven microrobot. This paper proposed a swimming microrobot driven by external alternating magnet field which is generated by two pairs of Helmholtz coils. The microrobot has a fish-like shape and consists of a buoyant robot body, a permanent magnet, and a fin. The fin is directly linked to the permanent magnet and the magnet is swung by the alternating magnet field, which makes the propulsion and steering power of the robot. In this paper, firstly, we designed the locomotive mechanism of the microrobot boy EMA. Secondly, we set up the control system. Finally, we demonstrated the swimming robot and evaluated the performance of the microrobot by the experiments.

물고기로봇의 모델 식별 및 방향 제어기 설계

강태삼(Taesam Kang),허민재(Minjae Hur),김병하(Byung-Ha Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11

For the direction control of a fish robot, it is necessary to identify a linear model for the dynamics of it. In this paper, experimental results for the identification of the fish robot model are proposed. Time domain and frequency domain analysis of the dynamic model is studied. Based on the linear model, designed is a robust direction controller using H-infinity control methodology. Simulation and experimental results of the controller are included.

전자기 구동 유영 마이크로로봇

변동학(Donghak Byun),김준영(Junyoung Kim),백승만(Seungman Baek),최현철(Hyunchul choi),박종오(Jong-oh Park),박석호(Sukho Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5

As an actuation method for microrobot, various electromagnetic based actuation (EMA) methods were proposed . Generally, the most benefit of EMA is wirelessly to drive microrobot Therefore, many researchers focus on microrobot actuated by EMA system. This paper propose a swimming microrobot driven by external magnetic tiled and the external alternating magnet field is generated by two pair of Helmholtz coils. The proposed microrobot has a fish-like shape and consists of buoyant robot body, a permanent magnet, and fins. The fin of the microrobot is directly attached with the permanent magnet and the fin and the permanent magnet are swung by the alternating magnet field. Firstly, we derive the locomotive mechanism of the microrobot by EMA. Secondly, the control system for the microrobot is constructed: Finally, through various experiments, we can demonstrate the controlled locomotive performance of the swimming microrobot.