Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins

doi:10.1088/1748-3190/acce86

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 > 水下机器人

	Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins
	Chen,Di 3; Wu,Zhengxing 2; Dong,Huijie 1; Meng,Yan 3; Yu,Junzhi 3
刊名	Bioinspiration & Biomimetics
	2023-04-28
卷号	18 期号:3
关键词	bioinspired robotic fish morphing pectoral fin aquatic-aerial crossing motion gliding motion optimization
ISSN号	1748-3182
DOI	10.1088/1748-3190/acce86
通讯作者	Yu,Junzhi()
英文摘要	Abstract The aquatic-aerial robot with the free interface crossing can enhance adaptability in complex aquatic environments. However, its design is extremely challenging for the striking discrepancies in propulsion principles. The flying fish in nature exhibits remarkable multi-modal cross-domain locomotion capability, such as high-maneuvers swimming, agile water-air crossing, and long-distance gliding, providing extensive inspiration. In this paper, we present a unique aquatic-aerial robotic flying fish with powerful propulsion and a pair of morphing wing-like pectoral fins to realize cross-domain motion. Furthermore, to explore the gliding mechanism of flying fish, a dynamic model with a morphing structure of pectoral fins is established, and a double deep Q-network-based control strategy is proposed to optimize the gliding distance. Finally, experiments were conducted to analyze the locomotion of the robotic flying fish. The results suggest that the robotic flying fish can successfully perform the ‘fish leaping and wing spreading’ cross-domain locomotion with an exiting speed of 1.55 m s?1 (5.9 body lengths per second, BL/s) and a crossing time of 0.233 s indicating its great potential in cross-domain. Simulation results have validated the effectiveness of the proposed control strategy and indicated that the dynamical adjustment of morphing pectoral fins contributes to improving the gliding distance. The maximum gliding distance has increased by 7.2%. This study will offer some significant insights into the system design and performance optimization of aquatic-aerial robots.
语种	英语
出版者	IOP Publishing
WOS记录号	IOP:BB_18_3_036010
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/51827]
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	Yu,Junzhi
作者单位	1.Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, People’s Republic of China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People’s Republic of China 3.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People’s Republic of China
推荐引用方式 GB/T 7714	Chen,Di,Wu,Zhengxing,Dong,Huijie,et al. Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins[J]. Bioinspiration & Biomimetics,2023,18(3).
APA	Chen,Di,Wu,Zhengxing,Dong,Huijie,Meng,Yan,&Yu,Junzhi.(2023).Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins.Bioinspiration & Biomimetics,18(3).
MLA	Chen,Di,et al."Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins".Bioinspiration & Biomimetics 18.3(2023).