Tail-stiffness optimization for a flexible robotic fish

doi:10.1088/1748-3190/ac84b6

	Tail-stiffness optimization for a flexible robotic fish
	Zou, Qianqian 1,2; Zhou, Chao1 ; Lu, Ben1,2 ; Liao, Xiaocun1,2 ; Zhang, Zhuoliang1,2
发表期刊	BIOINSPIRATION & BIOMIMETICS
ISSN	1748-3182
	2022-11-01
卷号	17 期号:6 页码:12
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
摘要	Undulation regulation in a robotic fish propelled by a passive flexible tail is more similar to that of a natural fish than with a rigid tail, owing to the smooth curvature of the flexible tail. Moreover, it has been observed that fish change the stiffness of their bodies to adapt to various swimming states. Inspired by this, a stiffness optimization scheme is explored for a novel elastic tail, which can improve the performance of the robotic fish. Spring steels are used as passive flexible joints of the fishtail; these can be easily expanded into multi-joint structures and the joint stiffness can be altered by changing the joint size. In this study, the Lagrangian dynamic method is employed to establish a dynamic model of the robotic fish in which passive flexible joints are simplified by a pseudo-rigid-body model. In addition, the hydrodynamics of the head and tail are analyzed using the simplified Morison equation and quasi-steady wing theory, respectively. Furthermore, to determine unknown hydrodynamic parameters in the dynamic model, a parameter identification method is applied. The results show that the identified simulation speeds fit the experimental speeds well within a wide range of stiffness values. Finally, to improve performance, the influence of joint stiffness and frequency on swimming speed is investigated based on the identified dynamic model. At each frequency, the optimal joint stiffness distribution is one that reduces the stiffness from the front to the rear. At the maximum driving frequency of 2.5 Hz, the optimal swimming speed is 0.3 body lengths per second, higher than that when rigid joints are used.
关键词	robotic fish stiffness optimization flexible joint dynamic modeling
DOI	10.1088/1748-3190/ac84b6
关键词[WOS]	LOCOMOTION ; BODY ; DESIGN ; MODELS
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[61903362]
项目资助者	National Nature Science Foundation of China
WOS研究方向	Engineering ; Materials Science ; Robotics
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS记录号	WOS:000852868500001
出版者	IOP Publishing Ltd
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/173211/50093
专题	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	Zou, Qianqian,Zhou, Chao,Lu, Ben,et al. Tail-stiffness optimization for a flexible robotic fish[J]. BIOINSPIRATION & BIOMIMETICS,2022,17(6):12.
APA	Zou, Qianqian,Zhou, Chao,Lu, Ben,Liao, Xiaocun,&Zhang, Zhuoliang.(2022).Tail-stiffness optimization for a flexible robotic fish.BIOINSPIRATION & BIOMIMETICS,17(6),12.
MLA	Zou, Qianqian,et al."Tail-stiffness optimization for a flexible robotic fish".BIOINSPIRATION & BIOMIMETICS 17.6(2022):12.