Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins

doi:10.1088/1748-3190/acce86

	Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins
	Chen,Di1 ; Wu,Zhengxing2 ; Dong,Huijie3 ; Meng,Yan1 ; Yu,Junzhi1
发表期刊	Bioinspiration & Biomimetics
ISSN	1748-3182
	2023-04-28
卷号	18 期号:3
通讯作者	Yu,Junzhi()
摘要	Abstract The aquatic-aerial robot with the free interface crossing can enhance adaptability in complex aquatic environments. However, its design is extremely challenging for the striking discrepancies in propulsion principles. The flying fish in nature exhibits remarkable multi-modal cross-domain locomotion capability, such as high-maneuvers swimming, agile water-air crossing, and long-distance gliding, providing extensive inspiration. In this paper, we present a unique aquatic-aerial robotic flying fish with powerful propulsion and a pair of morphing wing-like pectoral fins to realize cross-domain motion. Furthermore, to explore the gliding mechanism of flying fish, a dynamic model with a morphing structure of pectoral fins is established, and a double deep Q-network-based control strategy is proposed to optimize the gliding distance. Finally, experiments were conducted to analyze the locomotion of the robotic flying fish. The results suggest that the robotic flying fish can successfully perform the ‘fish leaping and wing spreading’ cross-domain locomotion with an exiting speed of 1.55 m s?1 (5.9 body lengths per second, BL/s) and a crossing time of 0.233 s indicating its great potential in cross-domain. Simulation results have validated the effectiveness of the proposed control strategy and indicated that the dynamical adjustment of morphing pectoral fins contributes to improving the gliding distance. The maximum gliding distance has increased by 7.2%. This study will offer some significant insights into the system design and performance optimization of aquatic-aerial robots.
关键词	bioinspired robotic fish morphing pectoral fin aquatic-aerial crossing motion gliding motion optimization
DOI	10.1088/1748-3190/acce86
语种	英语
WOS记录号	IOP:bb_18_3_036010
出版者	IOP Publishing
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/51828
专题	复杂系统认知与决策实验室_水下机器人
通讯作者	Yu,Junzhi
作者单位	1.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People’s Republic of China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People’s Republic of China 3.Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, People’s Republic of China
推荐引用方式 GB/T 7714	Chen,Di,Wu,Zhengxing,Dong,Huijie,et al. Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins[J]. Bioinspiration & Biomimetics,2023,18(3).
APA	Chen,Di,Wu,Zhengxing,Dong,Huijie,Meng,Yan,&Yu,Junzhi.(2023).Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins.Bioinspiration & Biomimetics,18(3).
MLA	Chen,Di,et al."Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins".Bioinspiration & Biomimetics 18.3(2023).