Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control

doi:10.3390/biomimetics8070545

	Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control
	Chen, Di 1; Xiong, Yan 1; Wang, Bo 1; Tong, Ru2 ; Meng, Yan1 ; Yu, Junzhi1,3
发表期刊	BIOMIMETICS
	2023-11-01
卷号	8 期号:7 页码:16
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	Aquatic animals such as fish and cetaceans can actively modulate their body stiffness with muscle to achieve excellent swimming performance under different situations. However, it is still challenging for a robotic swimmer with bionic propulsion mode to dynamically adjust its body stiffness to improve the swimming speed due to the difficulties in designing an effective stiffness adjustment structure. In this paper, based on the special torque mode of a motor, we propose an active variable stiffness control method for a robotic dolphin to pursue better swimming speed. Different from a variable stiffness structure design, a torque control strategy for the caudal motor is employed to imitate the physical property of a torsion spring to act as the variable stiffness component. In addition, we also establish a dynamic model with the Lagrangian method to explore the variable stiffness mechanism. Extensive experiments have validated the dynamic model, and then the relationships between frequency and stiffness on swimming performance are presented. More importantly, through integrating the dynamic model and torque actuation mode-based variable stiffness mechanism, the online performance optimization scheme can be easily realized, providing valuable guidance in coordinating system parameters. Finally, experiments have demonstrated the stiffness adjustment capability of the caudal joint, validating the effectiveness of the proposed control method. The results also reveal that stiffness plays an essential role in swimming motion, and the active stiffness adjustment can significantly contribute to performance improvement in both speed and efficiency. Namely, with the adjustment of stiffness, the maximum speed of our robotic dolphin achieves up to 1.12 body length per second (BL/s) at 2.88 Hz increasing by 0.44 BL/s. Additionally, the efficiency is also improved by 37%. The conducted works will offer some new insights into the stiffness adjustment of robotic swimmers for better swimming performance.
关键词	robotic dolphin torque control variable stiffness mechanism performance optimization
DOI	10.3390/biomimetics8070545
关键词[WOS]	FISH
收录类别	SCI
语种	英语
资助项目	Joint Fund of Ministry of Education for Equipment Pre-Research
项目资助者	Joint Fund of Ministry of Education for Equipment Pre-Research
WOS研究方向	Engineering ; Materials Science
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials
WOS记录号	WOS:001118336200001
出版者	MDPI
引用统计	被引频次：2[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/173211/55046
专题	复杂系统认知与决策实验室
通讯作者	Yu, Junzhi
作者单位	1.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Software, Sci & Technol Integrated Informat Syst Lab, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Chen, Di,Xiong, Yan,Wang, Bo,et al. Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control[J]. BIOMIMETICS,2023,8(7):16.
APA	Chen, Di,Xiong, Yan,Wang, Bo,Tong, Ru,Meng, Yan,&Yu, Junzhi.(2023).Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control.BIOMIMETICS,8(7),16.
MLA	Chen, Di,et al."Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control".BIOMIMETICS 8.7(2023):16.