CASIA OpenIR  > 复杂系统认知与决策实验室  > 水下机器人
Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish
Liao, Xiaocun1,2; Zhou, Chao1,2; Zou, Qianqian1,2; Wang, Jian1,2; Lu, Ben1,2
Source PublicationIEEE ROBOTICS AND AUTOMATION LETTERS
ISSN2377-3766
2022-10-01
Volume7Issue:4Pages:11174-11181
Corresponding AuthorZhou, Chao(chao.zhou@ia.ac.cn)
AbstractThe complex and continuous undulation of fishtail facilitates extraordinary underwater motion performance for natural fish. For the widely used Multi-Joint robotic fish, a lot of joints are used to simulate continuum fishtail, resulting in some challenges, e.g., the mechanism complexity, friction losses of adjacent joints, load disequilibrium and unsmooth servomotor output power. To overcome these intractable hurdles, motivated by natural fish, this letter proposes a wire-driven elastic robotic fish, which simulates fish muscle through multi-wire drive and adopts a fishlike spine design based on elastic component. Compared with the existing wire-driven robotic fish with discrete multiple-joints-spine and single-wire drive, our robotic fish not only has continuum fishtail, but also can swing with C-Shape and S-Shape owing to multi-wire coupling drive, and simulate the energy storage behavior of fish by elastic component. Further, a Lagrangian dynamic model that models a robotic fish with continuum fishtail and passive flexible joint is developed to explore the propulsive performance and validated by extensive experiments and simulations, and our robotic fish reaches the maximum swimming speed of 0.58 m/s, i.e., 1.04 BL/s. Finally, the superiority of the proposed drive mechanism in disposing of load disequilibrium and smoothing output power of servomotor, is analyzed and validated by the comparisons between a Multi-Joint robotic fish and our robotic fish.
KeywordElastic component Lagrangian dynamics robotic fish wire-driven mode
DOI10.1109/LRA.2022.3197911
Indexed BySCI
Language英语
Funding ProjectNational Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[61903362] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[61973303]
Funding OrganizationNational Nature Science Foundation of China
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000845062300018
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/50045
Collection复杂系统认知与决策实验室_水下机器人
Corresponding AuthorZhou, Chao
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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,et al. Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(4):11174-11181.
APA Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,Wang, Jian,&Lu, Ben.(2022).Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(4),11174-11181.
MLA Liao, Xiaocun,et al."Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.4(2022):11174-11181.
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