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Geometric Optimization of Relative Link Lengths for Biomimetic Robotic Fish

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3 Author(s)
Junzhi Yu ; Inst. of Autom., Chinese Acad. of Sci., Beijing ; Long Wang ; Min Tan

This paper focuses on the design of fishlike underwater robots using an optimization approach to choose relative link lengths. Considering both ichthyologic characteristics and mechatronic constraints, the optimal link-length ratios are numerically calculated by an improved constrained cyclic variable method. Comparative results, before and after the optimization, demonstrate the enhanced performance

Published in:

Robotics, IEEE Transactions on  (Volume:23 ,  Issue: 2 )