Optimization of swimming locomotion for fish robots with multi-actuation

  title={Optimization of swimming locomotion for fish robots with multi-actuation},
  author={Chunlin Zhou and H. K. Low},
  journal={2011 IEEE International Conference on Robotics and Biomimetics},
Enhancing the energy efficiency and swimming speed has long been a focused issue in the research of biomimetic fish robots. Existing methods are normally based on the offline analysis due to the lack of the closed-loop swimming control. In this paper, an on-line locomotion optimization approach will be presented to tackle the issue. The implementation of the approach comprises three parts: the on-line swimming gait generation based on artificial Central Pattern Generators (CPGs), the finding of… CONTINUE READING

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