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Title: Efficiency-based optimisation of a 2-DOF robotic fish model

Authors: Sayyed Farideddin Masoomi; Stefanie Gutschmidt; XiaoQi Chen; Mathieu Sellier

Addresses: Mechatronics Research Lab., Mechanical Engineering Department, University of Canterbury, Private Bag 4800, Christchurch 8140, New Zealand ' Mechatronics Research Lab., Mechanical Engineering Department, University of Canterbury, Private Bag 4800, Christchurch 8140, New Zealand ' Mechatronics Research Lab., Mechanical Engineering Department, University of Canterbury, Private Bag 4800, Christchurch 8140, New Zealand ' Mechatronics Research Lab., Mechanical Engineering Department, University of Canterbury, Private Bag 4800, Christchurch 8140, New Zealand

Abstract: One of the most attractive swimming characteristics of fishes is their efficient propulsion. In order to fully understand the kinematic, dynamic and fluid dynamic relationships that determine a high efficient fish, a mathematical model needs to be developed and analysed. Accordingly, in this paper, a fish robot with two degrees of freedom (DOF) is modelled. The robot's dynamic equations of motion are presented and discussed. And the constant parameters of the equations are optimised using particle swarm optimisation (PSO) algorithm. Finally, the effects of optimised and non-optimised parameters on the robot behaviour is observed and analysed.

Keywords: biomimetics; fish robots; mathematical modelling; particle swarm optimisation; PSO; robot kinematics; fluid dynamics; robot dynamics; dynamic modelling; equations of motion; robot behaviour; efficient propulsion.

DOI: 10.1504/IJBBR.2013.058736

International Journal of Biomechatronics and Biomedical Robotics, 2013 Vol.2 No.2/3/4, pp.93 - 101

Available online: 17 Jan 2014 *

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