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Implementation of a bioinspired robot (River Salmon) for stability control trough the dorsal fin

Abstract:

This document shows the stages of design and implementation of a bio-inspired robot in the morphology of an articulated river salmon. This robot imitates the Subcaringiform displacement that the river salmon presents. The principal analysis of the robot was the influence of the dorsal fin during the displacement, the dorsal fin has 2 DOF, in the first stage, a test evaluating the Pitch and Roll movements during the displacement of the robot was determined, in the second stage, we use the movements of the dorsal fin with tests in the same way as in the first stage and the results shown better stability, in the future work a control system in closed loop will be designed in order to obtain desired movements and positions.