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Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping

文献类型：期刊论文

作者Chen, Di1,3; Wu, Zhengxing1,3; Meng, Yan1,3; Tan, Min1,3; Yu, Junzhi1,2
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2022-01-05
页码11
关键词Robots Oscillators Sports Propulsion Springs Shafts Mechatronics Bioinspired robotic fish compliant joint dynamic modeling high-frequency propulsion high swimming performance
ISSN号1083-4435
DOI10.1109/TMECH.2021.3136342
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要Achieving fast and agile swimming still remains extremely challenging for a self-propelled robotic fish due to the constraint of actuator's propulsion capability. In this article, we report an untethered bioinspired robotic fish, which combines a high-frequency oscillation and a compliant passive mechanism to realize fast swimming, high pitch maneuvers, and even the leaping motion. For pursuing the explosive propulsion of the robotic fish, we propose an actuation system with a powerful output and a compact structure. A dynamic model is established and indicates that the compliant joint is able to modulate the power transmitted to a caudal fin to affect its velocity in the return stroke for generating more peak thrust. The design is validated with extensive experimental results. Namely, the robotic fish can surprisingly reach up to a speed of 3.8 body lengths per second (BL/s). Compared to the case with a rigid joint, dramatic improvements, involving a speed of 1.2 BL/s and a swimming distance of 141.2 m (70.6%), have been obtained, which reveal that besides the high-frequency oscillation, the compliant passive mechanism is also of great significance to perform high-speed swimming. Additionally, the robotic fish demonstrates its high pitch maneuvers by performing an agile front flip motion with a radius of 0.4 BL and an average angular velocity of 439 degrees/s. Most importantly, with a simple control strategy, our robotic fish can remarkably leap out of water completely. Results from this study provide significant insights into the innovative designs of next-generation robotic fishes, which require high speed and maneuverability.
WOS关键词MANEUVERS
资助项目National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[T2121002] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[62022090] ; Beijing Natural Science Foundation[4192060] ; Beijing Nova Program[Z201100006820078]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000740111700001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Beijing Nova Program
源URL[http://ir.ia.ac.cn/handle/173211/47184]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Yu, Junzhi
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Peking Univ, Coll Engn, Beijing Innovat Ctr Engn Sci & Adv Technol, Dept Adv Mfg & Robot,State Key Lab Turbulence & C, Beijing 100871, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Chen, Di,Wu, Zhengxing,Meng, Yan,et al. Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:11.
APA Chen, Di,Wu, Zhengxing,Meng, Yan,Tan, Min,&Yu, Junzhi.(2022).Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA Chen, Di,et al."Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):11.

入库方式： OAI收割

来源：自动化研究所

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