A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming | |
Xiaocun Liao1,2; Chao Zhou2; Long Cheng1,2; Jian Wang2; Junfeng Fan2; Zhuoliang Zhang2 | |
刊名 | Soft Robotics
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2024 | |
页码 | Ahead of Print |
关键词 | Robotic fish Elastic spine Variable stiffness Stiffness adjustment strategy |
DOI | https://doi.org/10.1089/soro.2023.0204 |
文献子类 | Research article |
英文摘要 | 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. |
学科主题 | 电子、通信与自动控制技术 |
URL标识 | 查看原文 |
出版地 | Mary Ann Liebert, Inc. |
语种 | 英语 |
出版者 | Mary Ann Liebert, Inc., publishers |
WOS记录号 | WOS:001206600100001 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/56127] ![]() |
专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
通讯作者 | Chao Zhou; Long Cheng; Junfeng Fan |
作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China |
推荐引用方式 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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