Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping

doi:10.1109/TMECH.2021.3136342

	Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping
	Chen, Di1,2 ; Wu, Zhengxing1,2 ; Meng, Yan1,2 ; Tan, Min1,2 ; Yu, Junzhi2,3
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2022-01-05
页码	11
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	Achieving fast and agile swimming still remains extremely challenging for a self-propelled robotic fish due to the constraint of actuator's propulsion capability. In this article, we report an untethered bioinspired robotic fish, which combines a high-frequency oscillation and a compliant passive mechanism to realize fast swimming, high pitch maneuvers, and even the leaping motion. For pursuing the explosive propulsion of the robotic fish, we propose an actuation system with a powerful output and a compact structure. A dynamic model is established and indicates that the compliant joint is able to modulate the power transmitted to a caudal fin to affect its velocity in the return stroke for generating more peak thrust. The design is validated with extensive experimental results. Namely, the robotic fish can surprisingly reach up to a speed of 3.8 body lengths per second (BL/s). Compared to the case with a rigid joint, dramatic improvements, involving a speed of 1.2 BL/s and a swimming distance of 141.2 m (70.6%), have been obtained, which reveal that besides the high-frequency oscillation, the compliant passive mechanism is also of great significance to perform high-speed swimming. Additionally, the robotic fish demonstrates its high pitch maneuvers by performing an agile front flip motion with a radius of 0.4 BL and an average angular velocity of 439 degrees/s. Most importantly, with a simple control strategy, our robotic fish can remarkably leap out of water completely. Results from this study provide significant insights into the innovative designs of next-generation robotic fishes, which require high speed and maneuverability.
关键词	Robots Oscillators Sports Propulsion Springs Shafts Mechatronics Bioinspired robotic fish compliant joint dynamic modeling high-frequency propulsion high swimming performance
DOI	10.1109/TMECH.2021.3136342
关键词[WOS]	MANEUVERS
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[T2121002] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[62022090] ; Beijing Natural Science Foundation[4192060] ; Beijing Nova Program[Z201100006820078]
项目资助者	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Beijing Nova Program
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000740111700001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能机器人
引用统计	被引频次：26[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/47185
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Yu, Junzhi
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Coll Engn, Beijing Innovat Ctr Engn Sci & Adv Technol, Dept Adv Mfg & Robot,State Key Lab Turbulence & C, Beijing 100871, 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	Chen, Di,Wu, Zhengxing,Meng, Yan,et al. Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:11.
APA	Chen, Di,Wu, Zhengxing,Meng, Yan,Tan, Min,&Yu, Junzhi.(2022).Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA	Chen, Di,et al."Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):11.

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