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Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping

文献类型：期刊论文

作者Chen, Di2,3; Wu, Zhengxing2,3; Zhang, Pengfei2,3; Tan, Min2,3; Yu, Junzhi1,2
刊名IEEE ROBOTICS AND AUTOMATION LETTERS
出版日期2022-04-01
卷号7期号:2页码:1936-1943
关键词Biologically-inspired robots mechanism design compliant joints and mechanisms high-speed swimming fish-like leaping motion
ISSN号2377-3766
DOI10.1109/LRA.2022.3142409
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要Many aquatic animals are able to leap out of water effortlessly, however, it is still exceedingly challenging for a swimming robot. Inspired by the fast-swimming mechanism of fish, in this letter, we develop an untethered high-speed swimming robot with the integration of high-frequency oscillation and compliant passive components for performance improvements in swimming speed, efficiency and even fish-like leaping motion. The stiffness optimization of compliant components is conducted via experiments. As a result, both swimming speed and efficiency have been significantly improved and the robot surprisingly reaches a swimming speed of 1.88 m/s corresponding to 7.1 body lengths per second (BL/s). That is, the compliant components' stiffness is of great importance to the performance improvement of a swimming robot at high-frequency oscillation. Additionally, the leaping motion is successfully performed with the optimized swimming robot and the maximum height of center of mass (CM) can reach up to 0.23 m. A simplified model is developed to analyze the leaping height with different speeds and body lengths, which suggests that the robot with small size leaps out of water more easily. The obtained results in this letter will offer some significant insights into the design and optimization for a high-speed swimming robot, as well as the cross-domain motions between water and air.
WOS关键词STIFFNESS
资助项目National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[T2121002] ; Beijing Natural Science Foundation[4192060] ; Youth Innovation Promotion Association CAS[2019138]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000748560800002
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Youth Innovation Promotion Association CAS
源URL[http://ir.ia.ac.cn/handle/173211/47605]  
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.Peking Univ, Coll Engn, BIC ESAT, State Key Lab Turbulence & Complex Syst,Dept Adv, Beijing 100871, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, 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,Zhang, Pengfei,et al. Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):1936-1943.
APA Chen, Di,Wu, Zhengxing,Zhang, Pengfei,Tan, Min,&Yu, Junzhi.(2022).Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),1936-1943.
MLA Chen, Di,et al."Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):1936-1943.

入库方式： OAI收割

来源：自动化研究所

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