Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control
文献类型：期刊论文
| 作者 | Chen, Di1; Xiong, Yan1; Wang, Bo1; Tong, Ru2 ; Meng, Yan1; Yu, Junzhi1,3
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| 刊名 | BIOMIMETICS
 |
| 出版日期 | 2023-11-01 |
| 卷号 | 8期号:7页码:16 |
| 关键词 | robotic dolphin torque control variable stiffness mechanism performance optimization |
| DOI | 10.3390/biomimetics8070545 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | Aquatic animals such as fish and cetaceans can actively modulate their body stiffness with muscle to achieve excellent swimming performance under different situations. However, it is still challenging for a robotic swimmer with bionic propulsion mode to dynamically adjust its body stiffness to improve the swimming speed due to the difficulties in designing an effective stiffness adjustment structure. In this paper, based on the special torque mode of a motor, we propose an active variable stiffness control method for a robotic dolphin to pursue better swimming speed. Different from a variable stiffness structure design, a torque control strategy for the caudal motor is employed to imitate the physical property of a torsion spring to act as the variable stiffness component. In addition, we also establish a dynamic model with the Lagrangian method to explore the variable stiffness mechanism. Extensive experiments have validated the dynamic model, and then the relationships between frequency and stiffness on swimming performance are presented. More importantly, through integrating the dynamic model and torque actuation mode-based variable stiffness mechanism, the online performance optimization scheme can be easily realized, providing valuable guidance in coordinating system parameters. Finally, experiments have demonstrated the stiffness adjustment capability of the caudal joint, validating the effectiveness of the proposed control method. The results also reveal that stiffness plays an essential role in swimming motion, and the active stiffness adjustment can significantly contribute to performance improvement in both speed and efficiency. Namely, with the adjustment of stiffness, the maximum speed of our robotic dolphin achieves up to 1.12 body length per second (BL/s) at 2.88 Hz increasing by 0.44 BL/s. Additionally, the efficiency is also improved by 37%. The conducted works will offer some new insights into the stiffness adjustment of robotic swimmers for better swimming performance. |
| WOS关键词 | FISH |
| 资助项目 | Joint Fund of Ministry of Education for Equipment Pre-Research |
| WOS研究方向 | Engineering ; Materials Science |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:001118336200001 |
| 资助机构 | Joint Fund of Ministry of Education for Equipment Pre-Research |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55045]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Yu, Junzhi |
| 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.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Software, Sci & Technol Integrated Informat Syst Lab, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Chen, Di,Xiong, Yan,Wang, Bo,et al. Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control[J]. BIOMIMETICS,2023,8(7):16. |
| APA | Chen, Di,Xiong, Yan,Wang, Bo,Tong, Ru,Meng, Yan,&Yu, Junzhi.(2023).Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control.BIOMIMETICS,8(7),16. |
| MLA | Chen, Di,et al."Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control".BIOMIMETICS 8.7(2023):16. |
入库方式： OAI收割
来源：自动化研究所
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