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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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.3233/ABB-2012-0064 |
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| _version_ | 1832568472503058432 |
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| author | John S. Palmisano Jason D. Geder Ravi Ramamurti William C. Sandberg Banahalli Ratna |
| author_facet | John S. Palmisano Jason D. Geder Ravi Ramamurti William C. Sandberg Banahalli Ratna |
| author_sort | John S. Palmisano |
| collection | DOAJ |
| 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. |
| format | Article |
| id | doaj-art-0011614edfdc478e9f04b2e72ca92923 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-0011614edfdc478e9f04b2e72ca929232025-02-03T00:58:54ZengWileyApplied Bionics and Biomechanics1176-23221754-21032012-01-019333334510.3233/ABB-2012-0064Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait CombinationsJohn S. Palmisano0Jason D. Geder1Ravi Ramamurti2William C. Sandberg3Banahalli Ratna4Center for Biomolecular Science and Engineering at the Naval Research Laboratory in Washington, DC, USALaboratory for Computational Physics and Fluid Dynamics at the Naval Research Laboratory in Washington, DC, USALaboratory for Computational Physics and Fluid Dynamics at the Naval Research Laboratory in Washington, DC, USALaboratory for Computational Physics and Fluid Dynamics at the Naval Research Laboratory in Washington, DC, USACenter for Biomolecular Science and Engineering at the Naval Research Laboratory in Washington, DC, USAA 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.http://dx.doi.org/10.3233/ABB-2012-0064 |
| spellingShingle | 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 |
| title | Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations |
| title_full | Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations |
| title_fullStr | Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations |
| title_full_unstemmed | Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations |
| title_short | Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations |
| title_sort | robotic pectoral fin thrust vectoring using weighted gait combinations |
| url | http://dx.doi.org/10.3233/ABB-2012-0064 |
| work_keys_str_mv | AT johnspalmisano roboticpectoralfinthrustvectoringusingweightedgaitcombinations AT jasondgeder roboticpectoralfinthrustvectoringusingweightedgaitcombinations AT raviramamurti roboticpectoralfinthrustvectoringusingweightedgaitcombinations AT williamcsandberg roboticpectoralfinthrustvectoringusingweightedgaitcombinations AT banahalliratna roboticpectoralfinthrustvectoringusingweightedgaitcombinations |