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Mechanism design and drive control of bionic robotic fish based on DEAP material

This paper investigates a kind of bionic robotic fish by using an intelligent actuation material, DEAP. Based on the electro-mechanical characteristics of DEAP, a kind of flexible joint actuator is designed. An optimal body link ratio is obtained by minimizing the errors between the fish body wave function and robot fish links. Then the kinematics and dynamic of the robot fish are analyzed. The mathematic model is adopted to represent the DEAP actuator, and an inverse compensation control is presented based on the DEAP actuator model. The simulations of PID control with the identified model for inverse compensation demonstrate the effectiveness of the design and control for the robot fish.