Toward Swimming Speed Optimization of a Multi-Flexible Robotic Fish With Low Cost of Transport

doi:10.1109/TASE.2023.3269775

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Toward Swimming Speed Optimization of a Multi-Flexible Robotic Fish With Low Cost of Transport
	Lu, Ben 1,2; Zhou, Chao 1,2; Wang, Jian 1,2; Zhang, Zhuoliang 1,2; Tan, Min 1,2
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2023-05-04
页码	12
关键词	Fish Robots Sports Costs Tail Springs Steel Bionic underwater robots multi-flexible joints performance optimization
ISSN号	1545-5955
DOI	10.1109/TASE.2023.3269775
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
英文摘要	Due to the complex mechanism and fabrication process of flexible materials, it remains extremely challenging for a flexible robotic fish to achieve fast and efficient locomotion. In this article, taking advantage of the passive bending and energy storage properties of flexible materials, we propose an untethered robotic fish with multiple flexible joints to achieve high performance and low Cost of Transport (COT). First, combining rigid links and flexible materials, a compact flexible tail with a simple and efficient structure is proposed. Next, the pseudo-rigid body theory is applied to analyze the deformation of passive joints, and a full-state dynamic model is established. More importantly, an optimization method by adjusting the phase differences of the passive joints is used to obtain high aquatic performance. Finally, extensive simulations and experiments validate the effectiveness of the proposed method, and the robotic fish can achieve a maximum speed of 1.63 body length (BL) per second and a minimum COT of 4.8 J/m (2.87 J/m . kg). Compared with the multi-joint robotic fish with a similar design, the COT is reduced by up to 81.05% with the basically same aquatic ability. Excitingly, the flexible robotic fish can achieve a COT of 7.36 J/m at 1.23 BL/s, which is 15.72%-36.34% lower than that of the bluefin tuna and is within the range of yellowfin tuna, offering valuable insight into high speed and long endurance applications for underwater robots.
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[62003342] ; National Natural Science Foundation of China[62203436]
WOS研究方向	Automation & Control Systems
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000988340500001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53296]
专题	多模态人工智能系统全国重点实验室
通讯作者	Zhou, Chao
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch ArtificialIntelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Lu, Ben,Zhou, Chao,Wang, Jian,et al. Toward Swimming Speed Optimization of a Multi-Flexible Robotic Fish With Low Cost of Transport[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2023:12.
APA	Lu, Ben,Zhou, Chao,Wang, Jian,Zhang, Zhuoliang,&Tan, Min.(2023).Toward Swimming Speed Optimization of a Multi-Flexible Robotic Fish With Low Cost of Transport.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12.
MLA	Lu, Ben,et al."Toward Swimming Speed Optimization of a Multi-Flexible Robotic Fish With Low Cost of Transport".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2023):12.