Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

doi:10.1088/1748-3190/abc494

	Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint
	Chen,Di1,2 ; Wu,Zhengxing1,2 ; Dong,Huijie1,2 ; Tan,Min1,2 ; Yu,Junzhi2,3
发表期刊	Bioinspiration & Biomimetics
ISSN	1748-3182
	2020-12-21
卷号	16 期号:2 页码:14
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
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.
关键词	robotic fish biomimetic compliant passive joint dynamic modeling swimming performance
DOI	10.1088/1748-3190/abc494
关键词[WOS]	BODY
收录类别	SCI
语种	英语
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]
项目资助者	National Natural Science Foundation of China ; Preresearch Fund of Equipment of China
WOS研究方向	Engineering ; Materials Science ; Robotics
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS记录号	IOP:1748-3182-16-2-abc494
出版者	IOP Publishing
七大方向——子方向分类	智能机器人
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42232
专题	复杂系统认知与决策实验室_水下机器人
作者单位	1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, People’s Republic of China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People’s Republic of China 3.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
第一作者单位	中国科学院自动化研究所
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.

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