Amphibious Pattern Design of a Robotic Fish with Wheel-propeller-fin Mechanisms
Article first published online: 1 JUL 2013
© 2013 Wiley Periodicals, Inc.
Journal of Field Robotics
Volume 30, Issue 5, pages 702–716, September/October 2013
How to Cite
Yu, J., Ding, R., Yang, Q., Tan, M. and Zhang, J. (2013), Amphibious Pattern Design of a Robotic Fish with Wheel-propeller-fin Mechanisms. J. Field Robotics, 30: 702–716. doi: 10.1002/rob.21470
- Issue published online: 6 AUG 2013
- Article first published online: 1 JUL 2013
- Manuscript Accepted: 4 JUN 2013
- Manuscript Received: 21 OCT 2012
- National Natural Science Foundation of China. Grant Numbers: 61075102, 61273326
- Beijing Natural Science Foundation. Grant Number: 4122084
This paper is devoted to the underwater and terrestrial locomotion aspects of an amphibious robotic fish propelled by modular fish-like propelling units and a pair of hybrid wheel-propeller-fin mechanisms. According to the mechanical structure and locomotion characteristics of the robot, a central pattern generator (CPG) network comprising coupled oscillators is employed to produce signals for swimming, crawling, as well as transitions between them. Specifically, a set of four key parameters including a tonic input drive, a direction factor, and two pitch factors is introduced to serve as input to the CPG network. Meanwhile, a finite state machine is built to trigger locomotor pattern transitions. Field tests on the amphibious patterns and autonomous water-land transition demonstrate the effectiveness of the adopted CPG-based control architecture. The latest results show that the robot attained a maximum advancing speed of 1.16 m/s (corresponding to 1.66 body lengths per second), a minimal turning radius of approximately 0.55 m (corresponding to 0.79 body lengths) on land, as well as an average rolling speed of 204 degrees per second in an alligator-like roll maneuver. It is also found that the dolphin-like dorsoventral swimming could provide an increase of 10.3% in speed compared to the fish-like carangiform swimming on the same propulsion platform.