Erratum to: 2D maneuverable robotic fish propelled by multiple ionic polymer–metal composite artificial fins
Erratum to: 2D maneuverable robotic fish propelled by multiple ionic polymer–metal composite artificial fins
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DOI：
10.1007/s41315-017-0032-8
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发表时间：
2017-08
影响因子：
1.7
通讯作者：
Zhihang Ye;Piqi Hou;A. Abbaspour;Zheng Chen
中科院分区：
文献类型：
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作者：
Zhihang Ye;Piqi Hou;A. Abbaspour;Zheng Chen
仿生机器鱼被证明是一种很有前途的水下机器人，其高推进效率、隐蔽性和紧凑性使其适合于情报收集、环境监测和渔业农业中的遥感任务。在这项研究中，开发了一种二维的、可操纵的、受生物启发的、由多个离子聚合物-金属复合人工鳍推动的机器鱼。这种鱼配备了一个尾鳍和两个胸鳍，然后为了设计和控制目的，用非线性动力学模型对其运动进行了建模。通过实验验证了该模型描述机器鱼2D运动的能力。向前游速度达到12度/S左右，转身速度达到2.5度/S左右。
Bio-inspired robotic fish are proving to be promising underwater vehicles whose high propulsion efficiency, stealth, and compact size make them suitable for remote sensing missions in intelligence collection, environmental monitoring, and fishing agriculture. In this research, a two-dimensional (2D), maneuverable, bio-inspired robotic fish propelled by multiple ionic polymer-metal composite artificial fins was developed. The movement of this fish, equipped with one caudal fin and two pectoral fins, was then modeled by a nonlinear dynamic model for design and control purposes. Experiments were conducted to verify the model’s capabilities of characterizing the robotic fish’s 2D movement. The forward-swimming speed reached about 12 mm/s and the turning speed reached about 2.5 deg/s.