Open AccessHydrodynamic Modeling and Design of Robotic Fish using Slender Body Theory
Author(s) -
Palmani Duraisamy,
Manigandan Nagarajan Santhanakrishnan
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1012/1/012007
Subject(s) - drag coefficient , drag , linearization , computer science , control theory (sociology) , underwater , simulation , marine engineering , nonlinear system , artificial intelligence , engineering , mechanics , physics , geology , oceanography , control (management) , quantum mechanics
Design of bio-inspired robotic fish has been an important area of research for applications such as water quality monitoring, aquatic animal behavioral study and underwater exploration. The modeling of robotic fish requires high dimensional analysis, which increases the design complexity. To address this complexity, approximate models are preferred and frequently used in the design of robotic fishes. The accuracy of these models mainly relies on various hydrodynamic parameter identification of which drag coefficient estimation is highly challenging. This paper utilizes a simple deceleration motion model to estimate the drag coefficient effectively so that the linearization error is reduced. The non-linearity in the deceleration model is simplified and mapped as a linear model to predict the drag coefficient. The estimated drag coefficient is used for dynamic modeling of robotic fish using slender body theory. The dynamic model is validated through experimental setup using accelerometer and visual sensor data. The maximum swimming speed of 0.32 ms-1 is achieved at 1.2 Hz caudal fin oscillations.