Relevant bibliographies by topics / Biomimetic robotic fish

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Biomimetic robotic fish'

Author: Grafiati
Published: 3 June 2025
Last updated: 6 July 2025

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Journal articles on the topic "Biomimetic robotic fish"

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Yamamoto, Ikuo, Nobuhiro Shin, Taishi Oka, and Miki Matsui. "Robotic Fish Technology and its Applications to Space Mechatronics." Applied Mechanics and Materials 527 (February 2014): 224–29. http://dx.doi.org/10.4028/www.scientific.net/amm.527.224.

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The authors have developed a shark ray robotic fish based on biomimetic approaches. The paper describes the newly developed robotic fish technology and its application to mechatronics in the space. It is found that robotic fish technology creates not only new underwater robotics, but also the next generation space mechatronics for geological survey of lunar/planets and dust cleaning in the space station.
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Zheng, Changzhen, Jiang Ding, Bingbing Dong, Guoyun Lian, Kai He, and Fengran Xie. "How Non-Uniform Stiffness Affects the Propulsion Performance of a Biomimetic Robotic Fish." Biomimetics 7, no. 4 (2022): 187. http://dx.doi.org/10.3390/biomimetics7040187.

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Live fish in nature exhibit various stiffness characteristics. The anguilliform swimmer, like eels, has a relatively flexible body, while the thunniform swimmer, like the swordfishes, has a much stiffer body. Correspondingly, in the design of biomimetic robotic fish, how to balance the non-uniform stiffness to achieve better propulsion performance is an essential question needed to be answered. In this paper, we conduct an experimental study on this question. First, a customized experimental platform is built, which eases the adjustment of the non-uniform stiffness ratio, the stiffness of the flexible part, the flapping frequency, and the flapping amplitude. Second, extensive experiments are carried out, finding that to maximize the propulsion performance of the biomimetic robotic fish, the non-uniform stiffness ratio is required to adapt to different locomotor parameters. Specifically, the non-uniform stiffness ratio needs to be reduced when the robotic fish works at low frequency, and it needs to be increased when the robotic fish works at high frequency. Finally, detailed discussions are given to further analyze the experimental results. Overall, this study can shed light on the design of a non-uniform biomimetic robotic fish, which helps to increase its propulsion performance.
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Shao, Hua, Bingbing Dong, Changzhen Zheng, et al. "Thrust Improvement of a Biomimetic Robotic Fish by Using a Deformable Caudal Fin." Biomimetics 7, no. 3 (2022): 113. http://dx.doi.org/10.3390/biomimetics7030113.

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In nature, live fish has various deformable fins which are capable to promote the swimming speed, efficiency, stability, and thrust generation. However, this feature is rarely possessed by current man-made biomimetic robotic fishes. In this paper, a novel deformable caudal fin platform is proposed to improve thrust generation of biomimetic robotic fish. First, the design of the deformable caudal fin is given, which includes a servo motor, a gear-based transmission mechanism, fin bones, and silica membrane. Second, an improved Central Pattern Generator (CPG) model was developed to coordinately control the flapping of the tail and the deformation of the caudal fin. More specifically, three deformation patterns, i.e., conventional nondeformable mode, sinusoidal-based mode, instant mode, of the caudal fin are investigated. Third, extensive experiments are conducted to explore the effects of deformation of the caudal fin on the thrust generation of the biomimetic robotic fish. It was found that the instant mode of the caudal fin has the largest thrust, which sees a 27.5% improvement compared to the conventional nondeformable mode, followed by the sinusoidal-based mode, which also sees an 18.2% improvement. This work provides a novel way to design and control the deformation of the caudal fin, which sheds light on the development of high-performance biomimetic robotic fish.
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Marras, Stefano, and Maurizio Porfiri. "Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion." Journal of The Royal Society Interface 9, no. 73 (2012): 1856–68. http://dx.doi.org/10.1098/rsif.2012.0084.

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The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its ‘engineered’ member. Here, we analyse a robotic fish and individual golden shiners ( Notemigonus crysoleucas ) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a ‘dummy’. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot–animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.
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Ay, Mustafa, Deniz Korkmaz, Gonca Ozmen Koca, Cafer Bal, Zuhtu Akpolat, and Mustafa Bingol. "Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes." Electronics 7, no. 7 (2018): 118. http://dx.doi.org/10.3390/electronics7070118.

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This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs-1 and excellent three-dimensional swimming performance is obtained.
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Gong, Yanling, Ming Wang, Qianchuan Zhao, et al. "Investigating the Influence of Counterflow Regions on the Hydrodynamic Performance of Biomimetic Robotic Fish." Biomimetics 9, no. 8 (2024): 452. http://dx.doi.org/10.3390/biomimetics9080452.

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Biomimetic robotic fish are a novel approach to studying quiet, highly agile, and efficient underwater propulsion systems, attracting significant interest from experts in robotics and engineering. These versatile robots showcase their ability to operate effectively in various water conditions. Nevertheless, the comprehension of the swimming mechanics and the evolution of the flow field of flexible robots in counterflow regions is still unknown. This paper presents a framework for the self-propulsion of robotic fish that imitates biological characteristics. The method utilizes computational fluid dynamics to analyze the hydrodynamic efficiency of the organisms at different frequencies of tail movement, under both still and opposing flow circumstances. Moreover, this study clarifies the mechanisms that explain how changes in the aquatic environment affect the speed and efficiency of propulsion. It also examines the most effective swimming tactics for places with counterflow. The results suggest that the propulsion effectiveness of robotic fish in counterflow locations does not consistently correspond to various tail-beat frequencies. By utilizing vorticity maps, a comparative analysis can identify situations when counterflow zones improve the efficiency of propulsion.
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Wang, Yu, Jian Wang, Song Kang, and Junzhi Yu. "Target-Following Control of a Biomimetic Autonomous System Based on Predictive Reinforcement Learning." Biomimetics 9, no. 1 (2024): 33. http://dx.doi.org/10.3390/biomimetics9010033.

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Biological fish often swim in a schooling manner, the mechanism of which comes from the fact that these schooling movements can improve the fishes’ hydrodynamic efficiency. Inspired by this phenomenon, a target-following control framework for a biomimetic autonomous system is proposed in this paper. Firstly, a following motion model is established based on the mechanism of fish schooling swimming, in which the follower robotic fish keeps a certain distance and orientation from the leader robotic fish. Second, by incorporating a predictive concept into reinforcement learning, a predictive deep deterministic policy gradient-following controller is provided with the normalized state space, action space, reward, and prediction design. It can avoid overshoot to a certain extent. A nonlinear model predictive controller is designed and can be selected for the follower robotic fish, together with the predictive reinforcement learning. Finally, extensive simulations are conducted, including the fix point and dynamic target following for single robotic fish, as well as cooperative following with the leader robotic fish. The obtained results indicate the effectiveness of the proposed methods, providing a valuable sight for the cooperative control of underwater robots to explore the ocean.
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Zhao, Wenjing, Aiguo Ming, and Makoto Shimojo. "Development of High-Performance Soft Robotic Fish by Numerical Coupling Analysis." Applied Bionics and Biomechanics 2018 (November 27, 2018): 1–12. http://dx.doi.org/10.1155/2018/5697408.

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To design a soft robotic fish with high performance by a biomimetic method, we are developing a soft robotic fish using piezoelectric fiber composite (PFC) as a flexible actuator. Compared with the conventional rigid robotic fish, the design and control of a soft robotic fish are difficult due to large deformation of flexible structure and complicated coupling dynamics with fluid. That is why the design and control method of soft robotic fish have not been established and they motivate us to make a further study by considering the interaction between flexible structure and surrounding fluid. In this paper, acoustic fluid-structural coupling analysis is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish in the fluid. Basic governing equations of soft robotic fish in the fluid are firstly described. The numerical coupling analysis is then carried out based on different structural parameters of soft robotic fish. Through the numerical analysis, a new soft robotic fish is finally designed, and experimental evaluation is performed. It is confirmed that the larger swimming velocity and better fish-like swimming performance are obtained from the new soft robotic fish. The new soft robotic fish is developed successfully for high performance.
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He, Jianhui, and Yonghua Zhang. "Development and Motion Testing of a Robotic Ray." Journal of Robotics 2015 (2015): 1–13. http://dx.doi.org/10.1155/2015/791865.

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Biomimetics takes nature as a model for inspiration to immensely help abstract new principles and ideas to develop various devices for real applications. In order to improve the stability and maneuvering of biomimetic fish like underwater propulsors, we selected bluespotted ray that propel themselves by taking advantage of their pectoral fins as target. First, a biomimetic robotic undulating fin driven propulsor was built based on the simplified pectoral structure of living bluespotted ray. The mechanical structure and control circuit were then presented. The fin undulating motion patterns, fin ray angle, and fin shape to be investigated are briefly introduced. Later, the kinematic analysis of fin ray and the whole fin is discussed. The influence of various kinematic parameters and morphological parameters on the average propulsion velocity of the propulsor was analyzed. Finally, we conclude that the average propulsion velocity generally increases with the increase of kinematic parameters such as frequency, amplitude, and wavelength, respectively. Moreover, it also has a certain relationship with fin undulating motion patterns, fin ray angle, fin shape, and fin aspect ratio.
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Yu, Junzhi, Lizhong Liu, Long Wang, Min Tan, and De Xu. "Turning Control of a Multilink Biomimetic Robotic Fish." IEEE Transactions on Robotics 24, no. 1 (2008): 201–6. http://dx.doi.org/10.1109/tro.2007.914850.

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Dissertations / Theses on the topic "Biomimetic robotic fish"

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Chuang, Sheng-Xiang, and 莊勝翔. "Design and research on biomimetic robotic carangidae fish." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/21429584450363886490.

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碩士<br>國立屏東科技大學<br>材料工程研究所<br>104<br>Twenty-first century is the era that information technology is rapid developed in a lot of fields such as agriculture, industry, and medicine. For the owners of domestic aquaculture fields, the judgment of water quantity by eye’s observations could not fit the climate extremely changed today. Although a lot of water monitoring equipments are used in the water treatment factory, there is a space for development some automatic robotics for detecting the environment factors during feeding the fish. The aim of present study us to design and study the performance of small-scale robotic fish that can swim with fish and can also monitor the changes in water quality. In this robotic fish, the shape of body is inspired from Carangidae fish and made by 3D printing machines. The propulsion mode is BCF (Body and / or Caudal Fin) with different shapes of trail. Arduino micro-control system is the core unit with pre-written program and the Zeebee module is used for communication. We have installed a water temperature sensor on the side of robot fish. App software is installed in the cell-phone that used to remote control the motion of robotic fish. A human machine interface written with language of Visual Basic is applied for giving commands for startup the flapping of trails for swimming. The length of robotic fish is forty centimeter and its weight is one thousand and sixty-five grams. The robot fish can swim on straight line, rotating and sensing temperature on water. The maximum travel speed can up to 0.69 times the robot fish body length, and the rotation speed is 21 degree/second. It can co-swim with real fish at low flapping frequency of trail.
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Wang, Hongan. "Design and implementation of biomimetic robotic fish Hongan Wang." Thesis, 2009. http://spectrum.library.concordia.ca/976734/1/MR67205.pdf.

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The study of biomimetic robotic fish has received a growing amount of research interest in the past several years. This thesis describes the development and testing of a novel mechanical design of a biomimetic robotic fish. The robotic fish has a structure which uses oscillating caudal fins and a pair of pectoral fins to generate fish-like swimming motion. This unique design enables the robotic fish to swim in two swimming modes, namely Body/Caudal Fin (BCF) and Median/Paired Fin (MPF). In order to combine BCF mode with MPF mode, the robotic fish utilizes a flexible posterior body, an oscillating foil actuated by three servomotors, and one pair of pectoral fins individually driven by four servomotors. Effective servo motions and swimming gaits are then proposed to control its swimming behaviour. Based on these results, fish-like swimming can be achieved including forward, backward, and turning motions. An experimental setup for the robotic fish was implemented using machine vision position and velocity measurement. The experimental results show that the robotic fish performed well in terms of manoeuvrability and cruise speed. Based on the experimental data, a low order dynamic model is proposed and identified. Together, these results provide an experimental framework for development of new modelling and control techniques for biomimetic robotic fish.
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Yeh, Li-Yuan, and 葉禮源. "Biomimetic Swimming Analysis and Motion Control of Muti-joint Robotic Fish." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/7autww.

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碩士<br>國立臺北科技大學<br>自動化科技研究所<br>106<br>In order to make the robotic fish achieve a highly biomimetic swimming and accurate underwater motion control, this thesis firstly collects the real swimming data of the real salmon, performs bionic analysis, and then designs and plans a comprehensive hardware and algorithm for the robotic fish. In the hardware part of the practice, this article actually measures the shape of real fish, and according to its streamlined structure and the softness of the tail fin design a bionic mechanical architecture, so that the robotic fish in the water with the least resistance, produce a great propulsion. Biomimetic analysis is performed through the video of squid swimming to perform image processing to collect the changes in joint angle during swimming. The Fourier series is used for data fitting (curve fitting) to obtain the equation of motion of each action. Applying it to the swimming of robotic fish, it can realize the bionic nature underwater and swim the highly efficient movement posture. Finally, in order to enable the robotic fish to achieve different degrees of motion control, this paper strengthens the analysis of the joint data of fish movements, and establishes the exercise parameters, and finally realizes on the robotic fish, so that the robotic fish can reach different levels of underwater bionic movement results. The experimental results show that the robot fish has achieved excellent results in linear swimming efficiency, swimming stability, and bionic motion control.
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CHANG, LING-JUNG, and 張凌榕. "Modeling and Implementation of Turning Posture for Biomimetic Multi-Joint Robotic Fish." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/mp78rb.

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碩士<br>國立臺北科技大學<br>電機工程系<br>107<br>In this paper, we design a robotic fish body according to the shape of the real fish, and improve it with reference to the shortcomings of the robotic fish mechanism in the past, and retain the soft tail fins made of silicone oil, so that the effect of the bionic posture experiment is more remarkable. The machine fish printing material is changed from PLA plastic to stereolithographic high-toughness resin, and the waterproof design of the waterproof rubber strip greatly improves the waterproofness, also prolongs the service life of the joint motor and makes the robot fish more stable. The goal of this paper is to design a turning motion model based on the swimming data of real fish and apply it to the swimming of the robotic fish. The motion parameters are obtained from the joint rotation angle data of real fish, and the model is trained through the neural network through nine parameters. The double joint rotation angle data of a complete turning motion is obtained form the neural network, and the rotation angle pattern of the two joints is represented by connecting the data points with the cubic Hermite interpolation through the graphic optimization. The turning motion model based on bionic data can achieve a turning posture that is as fluent as a real fish turn. When the turning model inputs the same parameters as the original turning action collected, the output result is almost the same as the original motion. After the graphics optimization, it can also present the same graph as the original turning joint data, which proves that the model is effective, so it can also use this model to generate the uncollected turning angle action and achieve the bionic effect.
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Books on the topic "Biomimetic robotic fish"

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Sava, Dario. Small biomimetic robotic fish. 2013.

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Kruusmaa, Maarja. From aquatic animals to robot swimmers. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0044.

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Fish and other aquatic animals have developed a diverse repertoire of locomotion and sensing strategies in an environment that is 800 times denser than air. This chapter explains the underlying principles of aquatic locomotion and describes some landmark biomimetic robots based on those principles. Biological underwater swimmers face the trade-off between speed and manoeuvrability and it is argued that the same trade-off exists also with biomimetic vehicles. Biomimetic underwater vehicles mostly mimic carangiform and subcarangiform swimmers which are fast swimmers. The highly manoeuvrable fish species (lampreys, rays, etc.) are a less popular choice of bioinspiration arguably because of their higher complexity and limitations posed by current technology of electromechanical devices. A unique sensing organ, the lateral line, is utilized by all fish species. Artifical lateral lines for sensing flow are briefly discussed as well as the potential of robot control with the help of flow sensing.
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Book chapters on the topic "Biomimetic robotic fish"

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Anderson, Iain A., Milan Kelch, Shumeng Sun, Casey Jowers, Daniel Xu, and Mark M. Murray. "Artificial Muscle Actuators for a Robotic Fish." In Biomimetic and Biohybrid Systems. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-39802-5_31.

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Yu, Junzhi, and Min Tan. "3D Maneuvering Control of a Robotic Fish." In Motion Control of Biomimetic Swimming Robots. Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-8771-5_5.

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Manduca, Gianluca, Gaspare Santaera, Paolo Dario, Cesare Stefanini, and Donato Romano. "Underactuated Robotic Fish Control: Maneuverability and Adaptability Through Proprioceptive Feedback." In Biomimetic and Biohybrid Systems. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-38857-6_18.

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van den Berg, Sander C., Rob B. N. Scharff, Zoltán Rusák, and Jun Wu. "Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion." In Biomimetic and Biohybrid Systems. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-64313-3_35.

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Afolayan, M. O. "Straight Swimming Algorithm Used by a Design of Biomimetic Robotic Fish." In Biomimetic and Biohybrid Systems. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-63537-8_1.

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Bonnet, Frank, and Francesco Mondada. "Biomimetic Behavior Models for Controlling a Robotic Fish." In Springer Tracts in Advanced Robotics. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-16781-3_8.

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Zhang, Dandan, Long Wang, Guangming Xie, and Weicun Zhang. "Coordinated Collision Avoidance of Multiple Biomimetic Robotic Fish." In AI 2005: Advances in Artificial Intelligence. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11589990_24.

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Yu, Junzhi, and Min Tan. "Implementing Flexible and Fast Turning Maneuvers of Multijoint Robotic Fish." In Motion Control of Biomimetic Swimming Robots. Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-8771-5_3.

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Landgraf, Tim, Hai Nguyen, Joseph Schröer, et al. "Blending in with the Shoal: Robotic Fish Swarms for Investigating Strategies of Group Formation in Guppies." In Biomimetic and Biohybrid Systems. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-09435-9_16.

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Zhang, Dandan, Yimin Fang, Guangming Xie, Junzhi Yu, and Long Wang. "Coordinating Dual-Mode Biomimetic Robotic Fish in Box-Pushing Task." In Advances in Artificial Life. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11553090_82.

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Conference papers on the topic "Biomimetic robotic fish"

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Zhang, Yiwei, Chuang Zhang, Ruiqian Wang, Hengshen Qin, Lianchao Yang, and Lianqing Liu. "Dielectric Elastomer-Based Biomimetic Twin-Tailed Robotic Fish with Fast and Flexible Swimming." In 2024 IEEE 14th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2024. http://dx.doi.org/10.1109/cyber63482.2024.10749032.

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Gong, Yanling, Ming Wang, Qianchuan Zhao, et al. "Dynamic Modeling and Numerical Analysis of Biomimetic Robotic Fish Based on Computational Fluid Dynamics." In 2024 43rd Chinese Control Conference (CCC). IEEE, 2024. http://dx.doi.org/10.23919/ccc63176.2024.10661611.

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Pai, Nikhil, Andrea Contreras Esquen, Coskun Tekes, Amir Ali Amiri Moghadam, and Ayse Tekes. "Design and Development of a Fish-Like, Soft Biomimetic Robot." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-94635.

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Abstract Among the robotic systems, biomimetic robots performing fish-like locomotion have been the focus of much attention recently as there are many applications for swimming robots, including monitoring of underwater environments, detection of pollution, and disaster relief. This study presents the design and development of a biomimetic fish-like robot based on real carp locomotion. The robot has five main body parts including the head, soft neck, hinged body, compliant tail, and caudal fin. The head houses three ultrasonic sensors to guide the robot while connected to the body through two degrees of freedom (DOF) soft link resembling the neck vertebrate. The 2 DOF soft link enables the head to bend up, down, left, and right which is essential for controlling the soft robot’s direction. The body is connected to the soft tail using a quick return crank mechanism to actuate the tail. The tail integrates a soft tail and a rigid caudal fin. While all parts of the soft fish-like robot are 3D printed using polylactic acid (PLA), thermoplastic polyurethane (TPU), the mold is made from silicone rubber to waterproof. The ultrasonic sensors are utilized to detect obstacles so that the robot may maneuver around. The swimming pattern only for two-dimensional motion is tested in the air and underwater. According to the experimental results, the proposed robot better imitates the fish through its soft 2 DOF link and tail.
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Junzhi Yu, Yimin Fang, Wei Zhao, and Long Wang. "Control and coordination of biomimetic robotic fish." In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2005. http://dx.doi.org/10.1109/iros.2005.1545477.

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Shao, Jinyan, Junzhi Yu, and Long Wang. "Formation Control of Multiple Biomimetic Robotic Fish." In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. http://dx.doi.org/10.1109/iros.2006.281696.

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Phamduy, Paul, Raymond Le Grand, and Maurizio Porfiri. "Design of a Biomimetic Robotic Fish Controlled by a Touch Screen." In ASME 2014 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/dscc2014-5842.

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Biomimetic robotic fish exhibits have been an attraction for many visitors in informal learning settings. Although these exhibits are entertaining to the visitors, they generally lack interactive components to promote participants’ engagement. Interactivity in exhibits is an increasing trend in public educational venues, and is a crucial factor for promoting science learning among participants. In this work, we propose a novel platform for enhancing participant interaction through a robotic fish controlled by a touch screen device. Specifically, we develop and characterize a robotic fish based on a multi-link design with a pitch and buoyancy control system for three-dimensional biomimetic swimming. Performance tests are conducted to assess the robotic fish speed.
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Kopman, Vladislav, and Maurizio Porfiri. "A Miniature and Low-Cost Robotic Fish for Ethorobotics Research and Engineering Education: I—Bioinspired Design." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6005.

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The development of underwater biomimetic robots has recently become an active research topic due to their stealth, performance, and maneuverability. In this two-part paper, we present the system design and characterization of a multipurpose, miniature, bioinspired low-cost robotic fish implemented in a fun-science activity for pre-high school students at the New York Aquarium; the activity is aimed at igniting K-12 students’ interest in science, technology, engineering, and mathematics (STEM) and to attract them toward engineering careers. The robot features a servomotor-actuated modular caudal fin for selection of swimming modality and thrust optimization. The thrust produced by various caudal fin geometries is experimentally quantified, reported, and discussed. In addition to its applications in K-12 education, this robotics platform is utilized for several robot-live fish interaction studies, where the effect of robot leadership in fish shoals is investigated.
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Korkmaz, D., U. Budak, C. Bal, G. Ozmen Koca, and Z. H. Akpolat. "Modeling and implementation of a biomimetic robotic fish." In 2012 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM 2012). IEEE, 2012. http://dx.doi.org/10.1109/speedam.2012.6264510.

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Jian-Xin Xu and Xue-Lei Niu. "Analytical control design for a biomimetic robotic fish." In 2011 IEEE 20th International Symposium on Industrial Electronics (ISIE). IEEE, 2011. http://dx.doi.org/10.1109/isie.2011.5984272.

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Ren, Qinyuan, Jianxin Xu, Xuefang Li, and Zhaoqin Guo. "Motion controller design for a biomimetic robotic fish." In IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2014. http://dx.doi.org/10.1109/iecon.2014.7048907.

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You might also be interested in the extended bibliographies on the topic 'Biomimetic robotic fish' for particular source types:
Journal articles
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