Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish

doi:10.1109/LRA.2022.3197911

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

	Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish
	Liao, Xiaocun 1,2; Zhou, Chao 1,2; Zou, Qianqian 1,2; Wang, Jian 1,2; Lu, Ben 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2022-10-01
卷号	7 期号:4 页码:11174-11181
关键词	Elastic component Lagrangian dynamics robotic fish wire-driven mode
ISSN号	2377-3766
DOI	10.1109/LRA.2022.3197911
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
英文摘要	The complex and continuous undulation of fishtail facilitates extraordinary underwater motion performance for natural fish. For the widely used Multi-Joint robotic fish, a lot of joints are used to simulate continuum fishtail, resulting in some challenges, e.g., the mechanism complexity, friction losses of adjacent joints, load disequilibrium and unsmooth servomotor output power. To overcome these intractable hurdles, motivated by natural fish, this letter proposes a wire-driven elastic robotic fish, which simulates fish muscle through multi-wire drive and adopts a fishlike spine design based on elastic component. Compared with the existing wire-driven robotic fish with discrete multiple-joints-spine and single-wire drive, our robotic fish not only has continuum fishtail, but also can swing with C-Shape and S-Shape owing to multi-wire coupling drive, and simulate the energy storage behavior of fish by elastic component. Further, a Lagrangian dynamic model that models a robotic fish with continuum fishtail and passive flexible joint is developed to explore the propulsive performance and validated by extensive experiments and simulations, and our robotic fish reaches the maximum swimming speed of 0.58 m/s, i.e., 1.04 BL/s. Finally, the superiority of the proposed drive mechanism in disposing of load disequilibrium and smoothing output power of servomotor, is analyzed and validated by the comparisons between a Multi-Joint robotic fish and our robotic fish.
资助项目	National Nature Science Foundation of China[62033013] ; National Nature Science Foundation of China[61903362] ; National Nature Science Foundation of China[62003341] ; National Nature Science Foundation of China[61973303]
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000845062300018
资助机构	National Nature Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50044]
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	Zhou, Chao
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
推荐引用方式 GB/T 7714	Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,et al. Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(4):11174-11181.
APA	Liao, Xiaocun,Zhou, Chao,Zou, Qianqian,Wang, Jian,&Lu, Ben.(2022).Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish.IEEE ROBOTICS AND AUTOMATION LETTERS,7(4),11174-11181.
MLA	Liao, Xiaocun,et al."Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish".IEEE ROBOTICS AND AUTOMATION LETTERS 7.4(2022):11174-11181.