Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy
文献类型：期刊论文
| 作者 | Yan, Shuaizheng3,4 ; Wu, Zhengxing2,3; Wang, Jian2,3; Li, Sijie2,3; Tan, Min2,3; Yu, Junzhi1
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2023-10-12 |
| 页码 | 13 |
| 关键词 | Biomimetic locomotion hammerhead shark robotic dynamics robotic fish |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2023.3319324 |
| 通讯作者 | Wu, Zhengxing(zhengxing.wu@ia.ac.cn) |
| 英文摘要 | In nature, the hammerhead shark possesses a special rolled swimming motion to combat the effects of inborn negative buoyancy. Inspired by this natural mechanism, we developed a novel biomimetic robotic hammerhead shark to explore the distinctive rolled swimming motion mode. First, a scaled-down robotic prototype is constructed based on the morphological characteristics of the hammerhead shark. Second, the kinematics and dynamics of fish-like swimming are built, thereafter, model identification and validation are performed to improve the accuracy of the robotic model. Furthermore, the physical effects of the long dorsal fin and the rolling state on swimming performance are investigated indepth by numerically simulating the lift and drag forces over different fin surfaces and the dynamic torque of the body. Finally, extensive aquatic experiments demonstrate the remarkable improvements on locomotion performance and propulsive efficiency of the robotic hammerhead shark by the proposed rolled motion. The obtained results provide a new solution for the long voyage of high-load robotic fish system. |
| WOS关键词 | DESIGN ; FISH |
| 资助项目 | National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62233001] ; Beijing Natural Science Foundation[JL23006] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001085454900001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54373]  |
| 专题 | 多模态人工智能系统全国重点实验室 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Wu, Zhengxing |
| 作者单位 | 1.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 4.Fuzhou Univ, Dept Mech Engn, Fuzhou 350000, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yan, Shuaizheng,Wu, Zhengxing,Wang, Jian,et al. Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:13. |
| APA | Yan, Shuaizheng,Wu, Zhengxing,Wang, Jian,Li, Sijie,Tan, Min,&Yu, Junzhi.(2023).Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy.IEEE-ASME TRANSACTIONS ON MECHATRONICS,13. |
| MLA | Yan, Shuaizheng,et al."Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):13. |
入库方式： OAI收割
来源：自动化研究所
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