Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite actuator

@article{Mbemmo2008ModelingOB,
  title={Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite actuator},
  author={Ernest Mbemmo and Zheng Chen and Stephan Shatara and Xiaobo Tan},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={689-694}
}
In this paper a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator. Inspired by biological fins, a passive plastic foil is attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and captures the interactions between the IPMC actuator and the plastic foil. Experimental results have shown that the proposed model is able to predict the steady-state cruising speed of the robotic… CONTINUE READING
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