碩士 / 國立臺北科技大學 / 電機工程系研究所 / 101 / This thesis presents a different approach to realizing carangiform fish swimming motion by a robotic fish. This multi-jointed biomimetic fish model incorporates two pectoral fins with 1 DOF (degree of freedom) and a body with 3 DOFs. Firstly, using an approximation algorithm, the hydrodynamic travelling function of real fish was converted to a cruising motion in the robotic fish. Secondly, the conjectural C-shaped turning function of real fish was used to approximate a turning motion of the robotic fish. Finally based on the research and implementation of two prior basic swimming motions, and observations of real fish swimming, the thesis presents a hybrid control method of swimming motion, which allows for cruising motion with some turning ability. The experimental results show that the method can control the robotic fish cruising, turning, and turning while cruising.
| Identifer | oai:union.ndltd.org:TW/101TIT05442044 |
| Date | January 2013 |
| Creators | Tzu-Chieh Hung, 洪子傑 |
| Contributors | 姚立德 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 114 |
Page generated in 0.0149 seconds