Identification of a Fish-Like Robot Using Inertial Sensors
The efficiency of fish swimming dynamics has motivated researchers to develop fish-like robots. As a beginning step, a fish-like robot (boat) is built to simulate the fish swimming dynamics. By using data collected from inertial sensors, a suitable mathematical model explaining fish turning dynamics is obtained through system identification method. The identified model matches well with the experimental results and thus can be used for the design of controllers.
Soon-Bok Lee and Yun-Jae Kim
I. Ariyanto et al., "Identification of a Fish-Like Robot Using Inertial Sensors", Key Engineering Materials, Vols. 326-328, pp. 1439-1442, 2006