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Fundamental Control for a Manta-Like Fish Robot
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Author(s): Masaaki Ikeda (Universiti Sultan Zainal Abidin, Malaysia), Keigo Watanabe (Okayama University, Japan)and Isaku Nagai (Okayama University, Japan)
Copyright: 2015
Pages: 15
Source title:
Handbook of Research on Advancements in Robotics and Mechatronics
Source Author(s)/Editor(s): Maki K. Habib (The American University in Cairo, Egypt)
DOI: 10.4018/978-1-4666-7387-8.ch007
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Abstract
This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.
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