Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint
文献类型：期刊论文
| 作者 | Chen,Di2,3 ; Wu,Zhengxing2,3; Dong,Huijie2,3; Tan,Min2,3; Yu,Junzhi1,3
|
| 刊名 | Bioinspiration & Biomimetics
 |
| 出版日期 | 2020-12-21 |
| 卷号 | 16期号:2页码:14 |
| 关键词 | robotic fish biomimetic compliant passive joint dynamic modeling swimming performance |
| ISSN号 | 1748-3182 |
| DOI | 10.1088/1748-3190/abc494 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | AbstractIn this paper, a novel compliant joint with two identical torsion springs is proposed for a biomimetic multi-joint robotic fish, which enables imitatation of the swimming behavior of live fish. More importantly, a dynamic model based on the Lagrangian dynamic method is developed to explore the compliant passive mechanism. In the dynamic modeling, a simplified Morrison equation is utilized to analyze the hydrodynamic forces. Further, the parameter identification technique is employed to estimate numerous hydrodynamic parameters. The extensive experimental data with different situations match well with the simulation results, which verifies the effectiveness of the obtained dynamic model. Finally, motivated by the requirement for performance optimization, we firstly take advantage of a dynamic model to investigate the effect of joint stiffness and control parameters on the swimming speed and energy efficiency of a biomimetic multi-joint robotic fish. The results reveal that phase difference plays a primary role in improving efficiency and the compliant joint presents a more significant role in performance improvement when a smaller phase difference is given. Namely, at the largest actuation frequency, the maximum improvement of energy efficiency is obtained and surprisingly approximates 89%. Additionally, the maximum improvement in maximum swimming speed is about 0.19 body lengths per second. These findings demonstrate the potential of compliance in optimizing joint design and locomotion control for better performance. |
| WOS关键词 | BODY |
| 资助项目 | National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61973303] ; Preresearch Fund of Equipment of China[61402070304] |
| WOS研究方向 | Engineering ; Materials Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | IOP:1748-3182-16-2-ABC494 |
| 出版者 | IOP Publishing |
| 资助机构 | National Natural Science Foundation of China ; Preresearch Fund of Equipment of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42231]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 作者单位 | 1.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, People’s Republic of China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, People’s Republic of China 3.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People’s Republic of China |
| 推荐引用方式 GB/T 7714 | Chen,Di,Wu,Zhengxing,Dong,Huijie,et al. Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint[J]. Bioinspiration & Biomimetics,2020,16(2):14. |
| APA | Chen,Di,Wu,Zhengxing,Dong,Huijie,Tan,Min,&Yu,Junzhi.(2020).Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint.Bioinspiration & Biomimetics,16(2),14. |
| MLA | Chen,Di,et al."Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint".Bioinspiration & Biomimetics 16.2(2020):14. |
入库方式： OAI收割
来源：自动化研究所
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