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ROBOT FISH


The Robot Fish
Since this project is currently being developed for the Navy as research, even though it's not confidential, I have decided to limit what I share on the project to only what has been currently published.

The first paper describes the design and optimization of the pectoral fin of our robotic fish.

• John Palmisano, Ravi Ramamurti, Kerr-Jia Lu, Jonah Cohen, William Sandberg, Banahalli Ratna, Design of a Biomimetic Controlled-Curvature Robotic Pectoral Fin, IEEE International Conference on Robotics and Automation, Rome, Italy, 2007.
  Best Conference Paper Award
  Invited to publish in IEEE Transactions on Robotics (T-RO) in progress

The second paper proposes an AUV, and it's control system, employing two of our robot pectoral fins.

• Jason Geder, John Palmisano, Ravi Ramamurti, William Sandberg, Banahalli Ratna, A New Hybrid Approach to Dynamic Modeling and Control Design for a Pectoral Fin Propelled UUV, 15th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, USA on August 19th-22nd, 2007.

I promise to post video on the project after it is finished.

In the meantime, feel free to check out a few of my CFD images of the robot fish on my finite element analysis tutorial.