@inproceedings{4576b920c80d4819bab435e489b832a5,
title = "Mechanism design and drive control of bionic robotic fish based on DEAP material",
abstract = "This paper investigates a kind of bionic robotic fish by using an intelligent actuation material, DEAP. Based on the electro-mechanical characteristics of DEAP, a kind of flexible joint actuator is designed. An optimal body link ratio is obtained by minimizing the errors between the fish body wave function and robot fish links. Then the kinematics and dynamic of the robot fish are analyzed. The mathematic model is adopted to represent the DEAP actuator, and an inverse compensation control is presented based on the DEAP actuator model. The simulations of PID control with the identified model for inverse compensation demonstrate the effectiveness of the design and control for the robot fish.",
keywords = "DEAP, PID control, inverse compensation, robot fish",
author = "Yuan Li and Dongchi Zhang and Neil Suttora and Jinwen Zheng and Qinglin Wang",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 28th Chinese Control and Decision Conference, CCDC 2016 ; Conference date: 28-05-2016 Through 30-05-2016",
year = "2016",
month = aug,
day = "3",
doi = "10.1109/CCDC.2016.7531967",
language = "English",
series = "Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5425--5430",
booktitle = "Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016",
address = "United States",
}