Knowledge Commons of Institute of Automation,CAS
Development and Stiffness Optimization for a Flexible-Tail Robotic Fish | |
Lu, Ben1,2; Zhou, Chao1,2; Wang, Jian1,2; Fu, Yuzhuo1,2; Cheng, Long1,2; Tan, Min1,2 | |
发表期刊 | IEEE ROBOTICS AND AUTOMATION LETTERS |
ISSN | 2377-3766 |
2022-04-01 | |
卷号 | 7期号:2页码:834-841 |
摘要 | The integral flexible tail has the potential advantage of lifelike undulating motion. However, due to the complex manufacturing process and difficult modification of structural parameters, its application in robotic fish encounters many challenges. Combining rigid structure and flexible material, this letter proposes a passive flexible fish tail, which can achieve continuous movement and high swimming frequency with simple but effective structure. First, with the full consideration of bending deformation of the spring steels, a dynamic model is established. Next, a passive fitting method is particularly applied to imitate the traveling wave model of the carangiform fish. More importantly, a calculation model, which can be used to acquire the theoretical ranges of the stiffness of spring steels, is derived based on the bending model of the cantilever beam subjected to the concentrated force and moment. Finally, the extensive simulation and experiments validate the effectiveness of the proposed methods, and the designed robotic fish can achieve 0.77 m/s (i.e., 1.12 BL/s) at a swimming frequency of 2.5 Hz. The obtained results can provide a valuable sight for improving the swimming performance of the robotic fish. |
关键词 | Biomimetics biologically-inspired robots mechanism design |
DOI | 10.1109/LRA.2021.3134748 |
关键词[WOS] | LOCOMOTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[62025307] ; National Nature Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[4192060] |
项目资助者 | National Nature Science Foundation of China ; Beijing Natural Science Foundation |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:000733213200006 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47011 |
专题 | 复杂系统认知与决策实验室_先进机器人 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Zhou, Chao |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Lu, Ben,Zhou, Chao,Wang, Jian,et al. Development and Stiffness Optimization for a Flexible-Tail Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):834-841. |
APA | Lu, Ben,Zhou, Chao,Wang, Jian,Fu, Yuzhuo,Cheng, Long,&Tan, Min.(2022).Development and Stiffness Optimization for a Flexible-Tail Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),834-841. |
MLA | Lu, Ben,et al."Development and Stiffness Optimization for a Flexible-Tail Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):834-841. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Development and Stif(2476KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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