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Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin
Abstract
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 the biological fin structure, a passive plastic fin is further attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state cruising speed of the robot under a given periodic actuation voltage. The interactions between the plastic fin and the IPMC actuator are also captured in the model. Experimental results have shown that the proposed model is able to predict the motion of robotic fish for different tail dimensions. Since most of the model parameters are expressed in terms of fundamental physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.
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Cited by
Soft Actuators for Small-Scale Robotics
Hines, L., Petersen, K., Lum, G. Z., & Sitti, M. (2017) · Advanced Materials · doi:10.1002/adma.201603483 · Cited by 1,337
Robotic Artificial Muscles: Current Progress and Future Perspectives
Zhang, J., Sheng, J., O'Neill, C. T., Walsh, C. J., Wood, R. J., Ryu, J.-H., Desai, J. P., & Yip, M. C. (2019) · IEEE Transactions on Robotics · doi:10.1109/tro.2019.2894371 · Cited by 398
Recent progress in blue energy harvesting for powering distributed sensors in ocean
Zhao, T., Xu, M., Xiao, X., Ma, Y., Li, Z., & Wang, Z. L. (2021) · Nano Energy · doi:10.1016/j.nanoen.2021.106199 · Cited by 293
Design and Locomotion Control of a Biomimetic Underwater Vehicle With Fin Propulsion
Zhou, C., & Low, K. H. (2012) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2011.2175004 · Cited by 287
An Interactive Robotic Fish Exhibit for Designed Settings in Informal Science Learning
Phamduy, P., Leou, M., Milne, C., & Porfiri, M. (2017) · IEEE Transactions on Education · doi:10.1109/te.2017.2695173 · Cited by 6
Metadata
- Authors
- Chen, Z., Shatara, S., & Tan, X.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2010-06
- Volume
- 15
- Issue
- 3
- Pages
- 448-459
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W2147170757
- Cited by
- 439
- References
- 0
- FWCI
- 62.00
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin. https://app.cochat.ai/papers/10.1109/tmech.2009.2027812
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- Chen, Z., Shatara, S., & Tan, X. (2010). Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin. IEEE/ASME Transactions on Mechatronics. https://doi.org/10.1109/tmech.2009.2027812
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
