Knowledge Commons of Institute of Automation,CAS
Hitch-Hiking Motion of Multiple Bionic Robotic Remoras with Enhanced Multimodal Locomotion | |
Wu, Zhengxing1,2![]() ![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE-ASME Transactions on Mechatronics
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2024 | |
页码 | 1-11 |
摘要 | Remora fish exhibit a remarkable ability to hitch-hike on large marine animals for long-distance transportation, serving as a significant source of inspiration for the development and control of underwater multiple robots. This paper is dedicated to exploring the hitch-hiking motions of multiple bionic robotic remoras. To begin, we construct an innovative robotic remora by taking inspiration from the biological structures of real remoras. Particularly, an adhesion system is designed to ensure secure and long-lasting attachments during underwater motion. Additionally, a flexible motion system, incorporating a pair of pectoral fins, a multi-link cascaded fish body, and a passive caudal fin, is developed to significantly enhance the required multimodal locomotion capabilities for hitch-hiking motions. Subsequently, to meet the collaborative hitch-hiking requirements, we propose a hitch-hiking motion control method based on a finite-state machine for multiple robotic remoras. Five sequential states are defined for the robotic remoras to execute during the collaborative adsorption process. Notably, an interaction and adjustment state is specifically designed to achieve the hitch-hiking sequence for multiple robotic remoras. Finally, extensive experiments are conducted, effectively demonstrating the superior multimodal locomotion capabilities of the newly developed robotic remora and the effectiveness of the proposed hitch-hiking control method for multiple robotic remoras. These finding can provide valuable insight for the cooperative control of underwater multiple robotic systems. |
收录类别 | SCI |
语种 | 英语 |
是否为代表性论文 | 否 |
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 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57518 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Wang, Jian |
作者单位 | 1.the Key Laboratory of Cognition and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.the School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 3.the State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, 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 | Wu, Zhengxing,Yu, Lianyi,Wang, Jian,et al. Hitch-Hiking Motion of Multiple Bionic Robotic Remoras with Enhanced Multimodal Locomotion[J]. IEEE-ASME Transactions on Mechatronics,2024:1-11. |
APA | Wu, Zhengxing,Yu, Lianyi,Wang, Jian,Dai, Shijie,Tan, Min,&Yu, Junzhi.(2024).Hitch-Hiking Motion of Multiple Bionic Robotic Remoras with Enhanced Multimodal Locomotion.IEEE-ASME Transactions on Mechatronics,1-11. |
MLA | Wu, Zhengxing,et al."Hitch-Hiking Motion of Multiple Bionic Robotic Remoras with Enhanced Multimodal Locomotion".IEEE-ASME Transactions on Mechatronics (2024):1-11. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
3(b)IEEE-TMECH-2024-(4893KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
论文接收邮件.pdf(77KB) | 其他 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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