ROS-based Hardware-in-the-Loop Simulation Framework for Fish-Inspired Robot for Safe Control Gain Tuning

Fish-inspired robots offer numerous advantages, including improved maneuverability, reduced power consumption, and quieter actuation than traditional propeller-based underwater robots. However, designing effective controllers for optimal performance is challenging due to the complex mechanisms and hydrodynamic forces involved. Traditional experimental methods for testing and tuning controllers can be costly and may even inflict physical damage to the robot during the development phase. In this paper, we propose a solution in the form of a ROS-based hardware-in-the-loop (HIL) simulation framework, which enables safe and efficient testing of control algorithms for fish-inspired robots. Our approach involves implementing the control algorithm on actual hardware while controlling a simulated robot equipped with virtual sensors to provide feedback. To demonstrate the effectiveness of our framework, we implement and tune a PID controller for path tracking on an anguilliform-inspired robot. Furthermore, we experimentally validate its feasibility and performance on a physical anguilliform-inspired fish robot. By leveraging our ROS-based HIL-simulation framework, this research contributes to advancing the development and control of fish-inspired robots, offering a cost-effective and reliable approach to controller tuning and testing.