Xiongfeng Yi

Cooperative Collision Avoidance Control of Servo/IPMC Driven Robotic Fish With Back-Relaxation Effect

In this letter, a collision avoidance control strategy is developed for a robotic fish that is propelled by a two-joint fishtail, comprising a servo motor and an ionic polymer-metal composite (IPMC), which are used as solid and soft actuators, respectively. In this dual-actuator system, the forward