Design and Optimization of an Untethered High-Performance Robotic Tuna

doi:10.1109/TMECH.2022.3150982

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

	Design and Optimization of an Untethered High-Performance Robotic Tuna
	Tong, Ru 1,2; Wu, Zhengxing 1,2; Chen, Di 1,2; Wang, Jian 1,2; Du, Sheng 1,2; Tan, Min 1,2; Yu, Junzhi 1,3
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2022-02-28
页码	11
关键词	Robots Sports Propulsion Robot kinematics Shape Optimization Prototypes High maneuverability high swimming motion control motion optimization robotic tuna
ISSN号	1083-4435
DOI	10.1109/TMECH.2022.3150982
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	For bioinspired underwater robots, it is a great challenge to achieve both high swimming speed and steering maneuverability. To this end, this article presents an untethered high-performance robotic tuna through mechanism optimization and steering strategies design. First, combining the advantages of single-joint and multijoint robotic fish, a novel mechanism of redundant joints is designed to enrich the swimming patterns of the robotic tuna. Next, a three-dimensional dynamic model is established, and the model parameters are accurately identified by experimental data. With the aid of the model and experiments, the speed performance is optimized under the key parameters of tail fin, such as size and flexibility. Further, from the perspective of imitating tuna and the demand of actual operations, two steering strategies are proposed to improve the steering performance. Finally, extensive simulation and experiments verify the effectiveness of the proposed methods. The obtained results reveal that the untethered robotic tuna can achieve both high swimming speed with 2.26 m/s (equivalent to 3.13 body lengths per second) and outstanding steering maneuverability with 0.48 body lengths in turning radius, providing valuable insight into performing special missions in cluttered ocean environments.
资助项目	National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62073196] ; National Natural Science Foundation of China[T2121002] ; S&T Program of Hebei[F2020203037] ; Youth Innovation Promotion Association CAS[2019138]
WOS关键词	FISH
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000764837400001
资助机构	National Natural Science Foundation of China ; S&T Program of Hebei ; Youth Innovation Promotion Association CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47969]
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	Yu, Junzhi
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Tong, Ru,Wu, Zhengxing,Chen, Di,et al. Design and Optimization of an Untethered High-Performance Robotic Tuna[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:11.
APA	Tong, Ru.,Wu, Zhengxing.,Chen, Di.,Wang, Jian.,Du, Sheng.,...&Yu, Junzhi.(2022).Design and Optimization of an Untethered High-Performance Robotic Tuna.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA	Tong, Ru,et al."Design and Optimization of an Untethered High-Performance Robotic Tuna".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):11.