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

Autor:	XiaoQi Chen, Stefanie Gutschmidt, Mathieu Sellier, Sayyed Farideddin Masoomi
Rok vydání:	2013
Předmět:	Engineering business.industry ComputingMethodologies_MISCELLANEOUS Particle swarm optimization Control engineering Kinematics Propulsion Two degrees of freedom Computer Science::Robotics Robot Fish Constant (mathematics) business Dynamic equation ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	International Journal of Biomechatronics and Biomedical Robotics. 2:93
ISSN:	1757-6806 1757-6792
DOI:	10.1504/ijbbr.2013.058736
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::9045886a2b09e83ab11d77a529b1d9ad https://doi.org/10.1504/ijbbr.2013.058736 Zobrazit plný text záznamu