Abhra Roy Chowdhury

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Fish swimming demonstrates impressive speeds and exceptional characteristics in the fluid environment. The objective of this paper is to mimic undulatory swimming behaviour and its control in a body caudal fin (BCF) carangiform fish in a robotic counterpart. Based on fish biology a 2-level behavior based control scheme is proposed. High level control is(More)
This paper presents a bio-inspired robotic fish undulatory swimming behaviour modeling and control using modulated pattern generators (MPG). Carangiform fish locomotion pattern is closely mimicked using a LH body wave (with its parameters: Tail-beat frequency (TBF) and Caudal amplitude (CA)) modulated by rhythmic central pattern generator (CPG) signal. A(More)
This paper presents a novel dynamic model of a bio-inspired robotic fish underwater vehicle by unifying conventional rigid body dynamics and bio-fluid-dynamics of a carangiform fish swimming given by Lighthill’s (LH) slender body theory. It proposes an inclusive mathematical design for better control and energy efficient path travel for the robotic fish.(More)
A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish propulsion mechanism in fluid environment is presented in this paper. Under the Lighthill (LH) mathematical slender body theory different mathematical propulsive waveforms are developed to generate robotic fish locomotion. LH Cubic function is found(More)
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish(More)
In this paper, a spherical underwater robot is proposed that uses six degree of freedom thrust allocator to determine the magnitude and the direction of thrust required for each water-jetted bilge pump thruster to create force and moment equilibrium. However, in order to ensure safe operation of the underwater robot it is equipped with redundant thruster(More)
This paper deals with the design of a bio-inspired fish like underwater vehicle. As the applications of underwater robots grow, finding efficient propulsion techniques is of the utmost importance. The current research has focused on the use of biomimetic propulsion, which simulates the undulation of fish tail, i.e. the sinusoidal oscillation. The objective(More)
The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics in the fluid environment. The robofish model (kinematics and dynamics) is integrated with the Lighthill(LH) mathematical(More)
This paper proposes a visual servoing system for a spherical underwater robot. Based on the spherical robot design, the forces and moments acting on it are analyzed and the governing motion equations are derived. The system consists of an on-board bottom facing camera module which is color coded to extract the position information and then guide the robot(More)