Applied Bionics and Biomechanics

Applied Bionics and Biomechanics / 2012 / Article

Open Access

Volume 9 |Article ID 802985 |

John S. Palmisano, Jason D. Geder, Ravi Ramamurti, William C. Sandberg, Banahalli Ratna, "Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations", Applied Bionics and Biomechanics, vol. 9, Article ID 802985, 13 pages, 2012.

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 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.

Copyright © 2012 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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