CASIA OpenIR  > 复杂系统认知与决策实验室
Locomotion Optimization of a Tendon-Driven Robotic Fish with Variable Passive Tail Fin
Qiu CL(邱常林); Wu ZX(吴正兴); Wang J(王健); Tan M(谭民); Yu JZ(喻俊志)
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2023
Pages4983 - 4992
Abstract

This paper explores a set of locomotion optimization
methods for a novel tendon-driven robotic fish.
With the typical features of the dual tendon driving active
tail and variable stiffness passive caudal fin, a fully
functioning tendon-drive robotic fish is developed. Next, a
practical dynamic model for the tendon-driven robotic fish
is established with full consideration of variable stiffness
passive caudal fin, and the model parameters are accurately
identified via data-driven methods. More importantly, to
improve the motion performances, an asymmetric central
pattern generator (CPG) is particularly proposed, and an
adjustment rule of passive stiffness is explored to fit different
motion states of the robotic fish. Finally, extensive
simulations and aquatic experiments verify the feasibility
of the proposed prototype and locomotion optimization
methods. The obtained results show that the improvements
of steering radius and forward swimming velocity are 36.3%
and 29%, respectively. At present, our robotic fish can
achieve maximum forward swimming as 1.04 BL/s (BL for
the Body Length), maximum turning rate as 153.3◦/s, and
the minimum turning radius reaches to 0.31 BL, providing
a valuable reference for bio-inspired research of aquatic
mechanical design and locomotion control.

Indexed BySCI
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
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56681
Collection复杂系统认知与决策实验室
Corresponding AuthorYu JZ(喻俊志)
Affiliation中国科学院自动化研究所复杂系统认知与决策国家实验室
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Qiu CL,Wu ZX,Wang J,et al. Locomotion Optimization of a Tendon-Driven Robotic Fish with Variable Passive Tail Fin[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023:4983 - 4992.
APA Qiu CL,Wu ZX,Wang J,Tan M,&Yu JZ.(2023).Locomotion Optimization of a Tendon-Driven Robotic Fish with Variable Passive Tail Fin.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,4983 - 4992.
MLA Qiu CL,et al."Locomotion Optimization of a Tendon-Driven Robotic Fish with Variable Passive Tail Fin".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2023):4983 - 4992.
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