Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations

Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations

A method was devised to vector propulsion of a robotic pectoral fin by means of actively controlling fin surface curvature. Separate flapping fin gaits were designed to maximize thrust for each of three different thrust vectors: forward, reverse, and lift. By using weighted combinations of these thr...

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Veröffentlicht in:Applied bionics and biomechanics 2012-01, Vol.9 (3), p.333-345
Hauptverfasser: Palmisano, John S., Geder, Jason D., Ramamurti, Ravi, Sandberg, William C., Ratna, Banahalli
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Biomechanics
Fluid dynamics
Robotics
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container_issue 3
container_start_page 333
container_title Applied bionics and biomechanics
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creator Palmisano, John S.
Geder, Jason D.
Ramamurti, Ravi
Sandberg, William C.
Ratna, Banahalli
description A method was devised to vector propulsion of a robotic pectoral fin by means of actively controlling fin surface curvature. Separate flapping fin gaits were designed to maximize thrust for each of three different thrust vectors: forward, reverse, and lift. By using weighted combinations of these three pre-determined main gaits, new intermediate hybrid gaits for any desired propulsion vector can be created with smooth transitioning between these gaits. This weighted gait combination (WGC) method is applicable to other difficult-to-model actuators. Both 3D unsteady computational fluid dynamics (CFD) and experimental results are presented.
doi_str_mv 10.1155/2012/802985
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subjects Biomechanics
Fluid dynamics
Robotics
title Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations
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