摘要：AbstractTransient shape control of an artificial, actively actuated fishtail is considered to acquire an efficient, natural-like underwater locomotion. The fishtail’s body is made of silicon allowing for elastic bending motion. Two fluid chambers are integrated into the volume mimicking an antagonistic muscle pair if pressure is applied antisymmetrically. The mathematical model is determined by following an open source toolchain using the finite element method. Model order reduction in terms of modal truncation is applied to obtain a feasible system order. Based on the reduced order model a systematic motion planning methodology is developed for the elastomechanic structure taking into account the controllable canoical form. Simulation results are provided to evaluate the efficiency of the presented approach.
关键词：KeywordsMotion planningFeedforward controlFinite element methodModel order reductionArtificial fishtailBionics
