Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping

doi:10.1109/LRA.2022.3142409

	Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping
	Chen, Di1,2 ; Wu, Zhengxing1,2 ; Zhang, Pengfei1,2 ; Tan, Min1,2 ; Yu, Junzhi2,3
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN	2377-3766
	2022-04-01
卷号	7 期号:2 页码:1936-1943
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	Many aquatic animals are able to leap out of water effortlessly, however, it is still exceedingly challenging for a swimming robot. Inspired by the fast-swimming mechanism of fish, in this letter, we develop an untethered high-speed swimming robot with the integration of high-frequency oscillation and compliant passive components for performance improvements in swimming speed, efficiency and even fish-like leaping motion. The stiffness optimization of compliant components is conducted via experiments. As a result, both swimming speed and efficiency have been significantly improved and the robot surprisingly reaches a swimming speed of 1.88 m/s corresponding to 7.1 body lengths per second (BL/s). That is, the compliant components' stiffness is of great importance to the performance improvement of a swimming robot at high-frequency oscillation. Additionally, the leaping motion is successfully performed with the optimized swimming robot and the maximum height of center of mass (CM) can reach up to 0.23 m. A simplified model is developed to analyze the leaping height with different speeds and body lengths, which suggests that the robot with small size leaps out of water more easily. The obtained results in this letter will offer some significant insights into the design and optimization for a high-speed swimming robot, as well as the cross-domain motions between water and air.
关键词	Biologically-inspired robots mechanism design compliant joints and mechanisms high-speed swimming fish-like leaping motion
DOI	10.1109/LRA.2022.3142409
关键词[WOS]	STIFFNESS
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[T2121002] ; Beijing Natural Science Foundation[4192060] ; Youth Innovation Promotion Association CAS[2019138]
项目资助者	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Youth Innovation Promotion Association CAS
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000748560800002
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：7[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/173211/47606
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, BIC ESAT, State Key Lab Turbulence & Complex Syst,Dept Adv, 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,Zhang, Pengfei,et al. Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):1936-1943.
APA	Chen, Di,Wu, Zhengxing,Zhang, Pengfei,Tan, Min,&Yu, Junzhi.(2022).Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),1936-1943.
MLA	Chen, Di,et al."Performance Improvement of a High-Speed Swimming Robot for Fish-Like Leaping".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):1936-1943.

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