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This paper describes an overall design procedure for a free-swimming, radio-controlled, multi-link biomimetic robotic dolphin mimicking dorsoventral movement. The swimming performance of the robotic dolphin is determined by its morphological parameters and kinematic parameters. The thrust is produced by the up-down-motioned fluke, and the turning is(More)
This paper is concerned with the design, construction, and control of a biomimetic robotic dolphin equipped with mechanical flippers, based on a simplified engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of rigid anterior body, flexible rear body, and an oscillating fluke. The dorsoventral movement of the(More)
This paper studies optimization and coordinated control of multiple biomimetic robotic fish. A platform for designing and optimizing parameters of biomimetic robotic fish is constructed. For optimizing parameters, the platform introduces a pertinent algorithm (cyclic direction method) which proves to be more effective and feasible compared with tabu search(More)
Robotic competitions are ideal benchmarks for robotics research. In this paper, we introduce a class of robotic fish competitions which use biomimetic robotic fish to play water polo-like games. In such competitions, the boxfish-like robots use their onboard cameras to acquire environment information and overhead global-vision camera is forbidden. To win(More)
System model is fundamental for accurate motion control of the robot. However, due to the complexity of aquatic environments and the special fin-driven structure, it is difficult to dynamically model the system of robotic fish. This paper proposes an experimental modeling method for yaw motion of a freely swimming robotic fish through system identification.(More)
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