Development and Stiffness Optimization for a Flexible-Tail Robotic Fish

doi:10.1109/LRA.2021.3134748

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Development and Stiffness Optimization for a Flexible-Tail Robotic Fish
	Lu, Ben 1,2; Zhou, Chao 1,2; Wang, Jian 1,2; Fu, Yuzhuo 1,2; Cheng, Long 1,2; Tan, Min 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2022-04-01
卷号	7 期号:2 页码:834-841
关键词	Biomimetics biologically-inspired robots mechanism design
ISSN号	2377-3766
DOI	10.1109/LRA.2021.3134748
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
英文摘要	The integral flexible tail has the potential advantage of lifelike undulating motion. However, due to the complex manufacturing process and difficult modification of structural parameters, its application in robotic fish encounters many challenges. Combining rigid structure and flexible material, this letter proposes a passive flexible fish tail, which can achieve continuous movement and high swimming frequency with simple but effective structure. First, with the full consideration of bending deformation of the spring steels, a dynamic model is established. Next, a passive fitting method is particularly applied to imitate the traveling wave model of the carangiform fish. More importantly, a calculation model, which can be used to acquire the theoretical ranges of the stiffness of spring steels, is derived based on the bending model of the cantilever beam subjected to the concentrated force and moment. Finally, the extensive simulation and experiments validate the effectiveness of the proposed methods, and the designed robotic fish can achieve 0.77 m/s (i.e., 1.12 BL/s) at a swimming frequency of 2.5 Hz. The obtained results can provide a valuable sight for improving the swimming performance of the robotic fish.
资助项目	National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[62025307] ; National Nature Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[4192060]
WOS关键词	LOCOMOTION
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000733213200006
资助机构	National Nature Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47010]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Zhou, Chao
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Lu, Ben,Zhou, Chao,Wang, Jian,et al. Development and Stiffness Optimization for a Flexible-Tail Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):834-841.
APA	Lu, Ben,Zhou, Chao,Wang, Jian,Fu, Yuzhuo,Cheng, Long,&Tan, Min.(2022).Development and Stiffness Optimization for a Flexible-Tail Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),834-841.
MLA	Lu, Ben,et al."Development and Stiffness Optimization for a Flexible-Tail Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):834-841.