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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
Source PublicationSoft Robotics
2024
PagesAhead of Print
SubtypeResearch article
Abstract

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.

KeywordRobotic fish Elastic spine Variable stiffness Stiffness adjustment strategy
Subject Area电子、通信与自动控制技术
MOST Discipline Catalogue工学 ; 工学::控制科学与工程
DOIhttps://doi.org/10.1089/soro.2023.0204
URL查看原文
Indexed BySCI ; SCIE
Language英语
WOS IDWOS:001206600100001
PublisherMary Ann Liebert, Inc., publishers
IS Representative Paper
Sub direction classification智能机器人
planning direction of the national heavy laboratory水下仿生机器人
Paper associated data
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56127
Collection复杂系统认知与决策实验室_水下机器人
Corresponding AuthorChao Zhou; Long Cheng; Junfeng Fan
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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