The Posture Control and 3-D Locomotion Implementation of Biomimetic Robot Fish

Abstract

In this paper, a method for the posture control of a biomimetic robot fish TPF-I is proposed. In this method, the position of the robot fish's gravity centre can be changed by a barycenter-adjustor, which leads to the pitching angle changing. Propelled by coordinating a multi-link body and a tail, the robot fish can complete the posture control and 3-D Locomotion. The 3-D locomotion and posture control are implemented by synthesizing three basic control methods speed control, orientation control and pitching control, which are described in detail respectively. Finally, the experimental results of the robot fish's motion control are given and the performance is analyzed