Exploring the backward swimming ability of a robotic fish

This article investigates the capability for backward swimming of a carangiform-fish-like robot with only three joints. A simple dynamic model based on a fixed point, a point in the body without perpendicular oscillation, is first developed to analyze the feasibility of backward motion for the robot. Through this theoretical analysis, we find that the fixed point lies closer to the robotic fish tail with higher backward swimming speeds. Combining the theoretical analysis with experimental optimization, we further explore backward swimming patterns using particle swarm optimization. After a series of online optimal experiments, we find several locomotion gaits that can make the robotic fish swim backward, and the corresponding fixed points are similarly located near the tail. The backward swimming velocity is strongly correlated with the fixed point position along the robotic fish body, which verifies the effectiveness of our fixed-point model.

[1]  M. Lighthill.  Note on the swimming of slender fish , 1960, Journal of Fluid Mechanics.

[2]  Huosheng Hu,et al.  Biologically inspired behaviour design for autonomous robotic fish , 2006, Int. J. Autom. Comput..

[3]  Xiaobo Tan,et al.  Autonomous robotic fish as mobile sensor platforms: Challenges and potential solutions , 2011 .

[4]  D. Rus,et al.  Design, fabrication and control of soft robots , 2015, Nature.

[5]  P.R. Bandyopadhyay,et al.  Trends in biorobotic autonomous undersea vehicles , 2005, IEEE Journal of Oceanic Engineering.

[6]  Xiaobo Tan,et al.  Analytical and computational modeling of robotic fish propelled by soft actuation material-based active joints , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  M. J. Wolfgang,et al.  Drag reduction in fish-like locomotion , 1999, Journal of Fluid Mechanics.

[8]  Guangming Xie,et al.  CPG-Based Locomotion Control of a Robotic Fish: Using Linear Oscillators and Reducing Control Parameters via PSO , 2011 .

[9]  Huosheng Hu,et al.  Biological inspiration: From carangiform fish to multi-joint robotic fish , 2010 .

[10]  José María Cañas,et al.  Robotherapy with Dementia Patients , 2013 .

[11]  Guangming Xie,et al.  Online High-Precision Probabilistic Localization of Robotic Fish Using Visual and Inertial Cues , 2015, IEEE Transactions on Industrial Electronics.

[12]  Ming Wang,et al.  Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot , 2012, IEEE Transactions on Robotics.

[13]  Yue Shi,et al.  A modified particle swarm optimizer , 1998, 1998 IEEE International Conference on Evolutionary Computation Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98TH8360).

[14]  Li Wen,et al.  Novel Method for the Modeling and Control Investigation of Efficient Swimming for Robotic Fish , 2012, IEEE Transactions on Industrial Electronics.

[15]  Xiaobo Tan,et al.  Miniature Underwater Glider: Design and Experimental Results , 2014, IEEE/ASME Transactions on Mechatronics.

[16]  Guangming Xie,et al.  Digital implementation of CPG controller in AVR system , 2014, Proceedings of the 33rd Chinese Control Conference.

[17]  Zhiqiang Cao,et al.  Backward swimming gaits for a carangiform robotic fish , 2012, Neural Computing and Applications.

[18]  Long Wang,et al.  A framework for biomimetic robot fish's design and its realization , 2005, Proceedings of the 2005, American Control Conference, 2005..

[19]  Maurice Clerc,et al.  The particle swarm - explosion, stability, and convergence in a multidimensional complex space , 2002, IEEE Trans. Evol. Comput..

[20]  Guangming Xie,et al.  Modeling of a carangiform-like robotic fish for both forward and backward swimming: Based on the fixed point , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[21]  Chunlin Zhou,et al.  Gait Planning for Steady Swimming Control of Biomimetic Fish Robots , 2009, Adv. Robotics.

[22]  Michael Sfakiotakis,et al.  Review of fish swimming modes for aquatic locomotion , 1999 .

[23]  Zhiqiang Cao,et al.  The dynamic analysis of the backward swimming mode for biomimetic carangiform robotic fish , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[24]  K. H. Low,et al.  Modelling and parametric study of modular undulating fin rays for fish robots , 2009 .

[25]  Qinghai Yang,et al.  Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot , 2013 .

[26]  D'AoUT,et al.  A kinematic comparison of forward and backward swimming in the eel anguilla anguilla , 1999, The Journal of experimental biology.

[27]  J. A. Sparenberg.  Survey of the mathematical theory of fish locomotion , 2002 .

[28]  Li Wen,et al.  Hydrodynamic Performance of an Undulatory Robot: Functional Roles of the Body and Caudal Fin Locomotion , 2013 .

[29]  James P. Ostrowski,et al.  Motion planning for anguilliform locomotion , 2003, IEEE Trans. Robotics Autom..

[30]  Alexander B. Phillips.  Robot Fish: Bio-inspired Fishlike Underwater Robots , 2017 .

[31]  Guangming Xie,et al.  Real-time tracking of moving objects on a water surface , 2012, 2012 IEEE International Conference on Mechatronics and Automation.

[32]  Guangming Xie,et al.  A general CPG network and its implementation on the microcontroller , 2015, Neurocomputing.

[33]  G.V. Lauder,et al.  Morphology and experimental hydrodynamics of fish fin control surfaces , 2004, IEEE Journal of Oceanic Engineering.

[34]  Ming Wang,et al.  CPG Network Optimization for a Biomimetic Robotic Fish via PSO , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[35]  M. Triantafyllou,et al.  An Efficient Swimming Machine , 1995 .

[36]  Huosheng Hu,et al.  Design of 3D Swim Patterns for Autonomous Robotic Fish , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[37]  Long Wang,et al.  Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish , 2009, IEEE Transactions on Industrial Electronics.

[38]  S. Grillner,et al.  Pattern of motor coordination underlying backward swimming in the lamprey. , 2006, Journal of neurophysiology.

[39]  James Kennedy,et al.  Particle swarm optimization , 2002, Proceedings of ICNN'95 - International Conference on Neural Networks.

[40]  J. Gray,et al.  Studies in Animal Locomotion: I. The Movement of Fish with Special Reference to the Eel , 1933 .

[41]  Graham,et al.  STUDIES OF TROPICAL TUNA SWIMMING PERFORMANCE IN A LARGE WATER TUNNEL - KINEMATICS , 1994, The Journal of experimental biology.

[42]  Tianmiao Wang,et al.  Hydrodynamics of a robotic fish tail: effects of the caudal peduncle, fin ray motions and the flow speed , 2016, Bioinspiration & biomimetics.

[43]  Junzhi Yu,et al.  Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish , 2014 .