Knowledge Commons of Institute of Automation,CAS
A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming | |
Xiaocun Liao1,2; Chao Zhou1; Long Cheng1,2; Jian Wang1; Junfeng Fan1; Zhuoliang Zhang1 | |
发表期刊 | Soft Robotics |
ISSN | 2169-5172 |
2024 | |
页码 | Ahead of Print |
通讯作者 | Zhou, Chao(chao.zhou@ia.ac.cn) ; Cheng, Long(long.cheng@ia.ac.cn) ; Fan, Junfeng(junfeng.fan@ia.ac.cn) |
文章类型 | Research article |
摘要 | Fish tunes fishtail stiffness by coordinating its tendons, muscles, and other tissues to improve swimming performance. For robotic fish, achieving a fast and online fishlike stiffness adjustment over a large-scale range is of great significance for performance improvement. This article proposes an elastic-spine-based variable stiffness robotic fish, which adopts spring steel to emulate the fish spine, and its stiffness is adjusted by tuning the effective length of the elastic spine. The stiffness can be switched in the maximum adjustable range within 0.26 s. To optimize the motion performance of robotic fish by adjusting fishtail stiffness, a Kane-based dynamic model is proposed, based on which the stiffness adjustment strategy for multistage swimming is constructed. Simulations and experiments are conducted, including performance measurements and analyses in terms of swimming speed, thrust, and so on, and online stiffness adjustment-based multistage swimming, which verifies the feasibility of the proposed variable stiffness robotic fish. The maximum speed and lowest cost of transport for robotic fish are 0.43 m/s (equivalent to 0.81 BL/s) and 7.14 J/(kg·m), respectively. |
关键词 | Robotic fish Elastic spine Variable stiffness Stiffness adjustment strategy |
学科领域 | 电子、通信与自动控制技术 |
学科门类 | 工学 ; 工学::控制科学与工程 |
DOI | https://doi.org/10.1089/soro.2023.0204 |
关键词[WOS] | SOFT ROBOTIC FISH ; BODY STIFFNESS ; SPEED ; DRIVEN |
URL | 查看原文 |
收录类别 | SCI ; SCIE |
语种 | 英语 |
资助项目 | National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[62203436] |
项目资助者 | National Nature Science Foundation of China |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:001206600100001 |
出版者 | Mary Ann Liebert, Inc., publishers |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56127 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Chao Zhou; Long Cheng; Junfeng Fan |
作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence 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 | Xiaocun Liao,Chao Zhou,Long Cheng,et al. A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming[J]. Soft Robotics,2024:Ahead of Print. |
APA | Xiaocun Liao,Chao Zhou,Long Cheng,Jian Wang,Junfeng Fan,&Zhuoliang Zhang.(2024).A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming.Soft Robotics,Ahead of Print. |
MLA | Xiaocun Liao,et al."A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming".Soft Robotics (2024):Ahead of Print. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Liao 等 - 2024 - A Fa(880KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 | |
SORO_suppl_appendix.(3097KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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