Reproduce “Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism” on OpenResearch
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About this paper
Yita Wang, Chen Chen, Yicheng Chen, Jinjie Li, Yuichi Motegi, Kenji Ohkuma, Toshihiro Maki, Moju Zhao
A robotic fish features a 2-DoF crank-slider mechanism that decouples propulsion and steering, enabling simultaneous high swimming speeds (0.32 m/s) and agile turning (0.56 m radius) with stable feedback control. Researchers at The University of Tokyo developed this system to reduce environmental disturbance during underwater observation.
Key insights
- The 2-DoF crank-slider mechanism successfully separates the control of oscillation frequency and mean tail angle, enabling independent optimization of speed and turning.
- Kinematic and dynamic models, while requiring empirical adjustments, provided effective trends for motor load estimation and valuable guidance for hardware selection and structural design.
- Proportional feedback control effectively regulates the robot's yaw direction, demonstrating stable heading control despite inherent body oscillations during locomotion.
Summary by alphaXiv.
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