CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Toward a Novel Robotic Manta With Unique Pectoral Fins
Meng, Yan1,2; Wu, Zhengxing1,2; Dong, Huijie1,2; Wang, Jian1,2; Yu, Junzhi1,3
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
2022-03-01
Volume52Issue:3Pages:1663-1673
Abstract

This article proposes the mechanical design and dynamic model of an innovative manta-inspired robot system for both efficient fast swimming and high spatial maneuverability. Inspired by some biological studies, a pair of unique pectoral fins with six separate degrees of freedoms (DOFs) are developed. The novel design is characterized by an improved crank-rocker mechanism and a distinctive horizontal DOF. The former not only endows the robot with high swimming speed, but also guarantees efficient flapping patterns which are close to manta rays. The latter is employed to coordinate with the flapping movement, allowing remarkable pitch adjustment. Further, the basic motion strategy is presented by detailed analyses to the pectoral fins. Besides, based on the Morrison equation and infinitesimal method, a complete dynamic model for robotic manta with flexible pectoral fins is established, whose parameters are determined through experimental data. Moreover, the linear swimming and pitching experiments are conducted, demonstrating the prominent movement performance of the presented design and the effectiveness of the dynamic model. The obtained results shed light on updated design and control of next-generation agile underwater vehicles and robots capable of multimodal motions in dynamic and complex aquatic environments.

KeywordDynamic model pectoral fins robotic manta spatial maneuverability underwater robotics
DOI10.1109/TSMC.2020.3034503
WOS KeywordBIONIC-FISH ; DESIGN ; RAY ; OPTIMIZATION ; COMPLEXITY
Indexed BySCI
Language英语
Funding ProjectNational 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] ; Beijing Nova Program[Z201100006820078]
Funding OrganizationNational Natural Science Foundation of China ; Beijing Nova Program
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000756835400034
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Sub direction classification智能机器人
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/47898
Collection复杂系统管理与控制国家重点实验室_先进机器人
复杂系统管理与控制国家重点实验室_水下机器人
Corresponding AuthorYu, Junzhi
Affiliation1.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
3.Peking Univ, Coll Engn, BIC ESAT,Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Meng, Yan,Wu, Zhengxing,Dong, Huijie,et al. Toward a Novel Robotic Manta With Unique Pectoral Fins[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2022,52(3):1663-1673.
APA Meng, Yan,Wu, Zhengxing,Dong, Huijie,Wang, Jian,&Yu, Junzhi.(2022).Toward a Novel Robotic Manta With Unique Pectoral Fins.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,52(3),1663-1673.
MLA Meng, Yan,et al."Toward a Novel Robotic Manta With Unique Pectoral Fins".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 52.3(2022):1663-1673.
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