Development and control of a bioinspired robotic remora for hitch-hiking
Pengfei Zhang2,3; Zhengxing Wu2,3; Yan Meng2,3; Huijie Dong2,3; Min Tan2,3; Junzhi Yu1,3
刊名IEEE/ASME Transactions on Mechatronics
2021
页码DOI: 10.1109/TMECH.2021.3119022
关键词bioinspired adhesion depth control pose control remora robotic fish
英文摘要

Remora, a bony fish, is well known for the remarkable hitchhiking behavior, by which it can transport itself over large distances without too much effort. In this article, a novel robotic remora with a stable adhesion system and its motion control methods are proposed for transferring the hitchhiking behavior to the engineered system. In terms of the mechatronic design, a robotic prototype with the uncoupled planar and vertical motion mechanisms is created to realize the precise and agile movement. Furthermore, a reliable adhesion system possessing low preload demand, considerable adhesive force (∼ 250 N), and reversible adhesion ability is developed, and then, the design principle of the adhesive disc is investigated. In the aspect of motion control, a mode-switch-based planar pose (position and orientation) control method and an antidisturbance depth control method are designed. The combination of these two controllers endows the robotic remora with the ability to precisely arrive at any position in a 3-D space, which paves the way for the hitchhiking task. Extensive experimental results are presented to support the performance benefits of the proposed robotic remora and control methods. Finally, the hitchhiking behavior is implemented successfully by robotic remora. To the best of our knowledge, this is the first engineered implementation of hitchhiking for a fin-actuated underwater robot. The results obtained will promote the design and control of the future underwater adhesion robot and offer valuable insights into the long-endurance robotic fish and mother–son multirobot system.

语种英语
内容类型期刊论文
源URL[http://ir.ia.ac.cn/handle/173211/48916]  
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Junzhi Yu
作者单位1.College of Engineering, Peking University
2.School of Artificial Intelligence, University of Chinese Academy of Sciences
3.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Pengfei Zhang,Zhengxing Wu,Yan Meng,et al. Development and control of a bioinspired robotic remora for hitch-hiking[J]. IEEE/ASME Transactions on Mechatronics,2021:DOI: 10.1109/TMECH.2021.3119022.
APA Pengfei Zhang,Zhengxing Wu,Yan Meng,Huijie Dong,Min Tan,&Junzhi Yu.(2021).Development and control of a bioinspired robotic remora for hitch-hiking.IEEE/ASME Transactions on Mechatronics,DOI: 10.1109/TMECH.2021.3119022.
MLA Pengfei Zhang,et al."Development and control of a bioinspired robotic remora for hitch-hiking".IEEE/ASME Transactions on Mechatronics (2021):DOI: 10.1109/TMECH.2021.3119022.
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