Design and analysis of a novel tendon-driven continuum robotic dolphin

doi:10.1088/1748-3190/ac2126

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

	Design and analysis of a novel tendon-driven continuum robotic dolphin
	Liu, Jincun 1,2; Zhang, Chi 1,2; Liu, Zhenna 3; Zhao, Ran 1,2; An, Dong 1,2; Wei, Yaoguang 1,2; Wu, Zhengxing 4; Yu, Junzhi 5
刊名	BIOINSPIRATION & BIOMIMETICS
	2021-11-01
卷号	16 期号:6 页码:17
关键词	biomimetics underwater vehicles robotic dolphin continuum robot
ISSN号	1748-3182
DOI	10.1088/1748-3190/ac2126
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	In this paper, a novel continuum robotic dolphin termed 'ConRoDolI' is proposed and developed. The biomimetic robot features dual tendon driving continuum mechanisms that are utilized to replicate the twisting and bending motions of the dolphin's caudal vertebrae and thoracic vertebrae. More importantly, a central pattern generator based kinematics is analyzed to yield stable dolphin-like swimming. In the meantime, the relationship between the backbone shape and both the tendon length as well as position and orientation are explored. Furthermore, multimodal swimming gaits are designed to pave the way for a three-dimensional (3D) swimming decoupling solution, involving forwarding swimming, multiple yaw patterns, and multiple pitch patterns. All of these endow the robotic dolphin with 3D maneuverability. Finally, extensive experiments demonstrate the feasibility of the proposed biomimetic mechatronic design and control approach. The forward swimming speed is 0.44 body lengths per second (BL/s). The steering radius of the robot is about 0.11 BL with an angular velocity of 10 degrees/s and the diving speed is about 0.13 BL/s. The average propulsion efficiency is about 0.6 with the maximum is over 0.8. The obtained results shed light on the improvement of aquatic maneuverability associated with new-concept underwater vehicles.
资助项目	National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61633017] ; National Key Research and Development Program of China[2019YFD0901000] ; open research fund of The State Key Laboratory for Management and Control of Complex Systems[20210106] ; S&T Program of Hebei[F2020203037]
WOS关键词	FISH ROBOT ; PROPULSION ; BODY
WOS研究方向	Engineering ; Materials Science ; Robotics
语种	英语
出版者	IOP PUBLISHING LTD
WOS记录号	WOS:000696088100001
资助机构	National Natural Science Foundation of China ; National Key Research and Development Program of China ; open research fund of The State Key Laboratory for Management and Control of Complex Systems ; S&T Program of Hebei
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45956]
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.China Agr Univ, Coll Informat & Elect Engn, Beijing 100083, Peoples R China 2.China Agr Univ, Natl Innovat Ctr Digital Fishery, Beijing 100083, Peoples R China 3.Shandong Labor Vocat & Tech Coll, Jinan 250022, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Peking Univ, Dept Adv & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Liu, Jincun,Zhang, Chi,Liu, Zhenna,et al. Design and analysis of a novel tendon-driven continuum robotic dolphin[J]. BIOINSPIRATION & BIOMIMETICS,2021,16(6):17.
APA	Liu, Jincun.,Zhang, Chi.,Liu, Zhenna.,Zhao, Ran.,An, Dong.,...&Yu, Junzhi.(2021).Design and analysis of a novel tendon-driven continuum robotic dolphin.BIOINSPIRATION & BIOMIMETICS,16(6),17.
MLA	Liu, Jincun,et al."Design and analysis of a novel tendon-driven continuum robotic dolphin".BIOINSPIRATION & BIOMIMETICS 16.6(2021):17.