2-DOF barycenter mechanism for stabilization of fish-robots
Two-DOF barycenter mechanism and its control are proposed. The mechanism by means of the moved balancing masses along two axes changes the center of gravity of fish's body. The projected torques on x and y axes propel pitch and roll angles to the desired values. Merging the pitching and rolling models with fish-tail and rigid-body models, the fish robot motion and maneuverability can be achieved in three dimensions. The 3-D motion has been derived based on three basic behaviors as swimming, orientating, and stabilizing. Lastly, simulation results of the barycenter stabilization system and the robot motion are given and feasibility of the realization is discussed.