Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy

doi:10.1109/TMECH.2023.3319324

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

	Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy
	Yan, Shuaizheng 3,4; Wu, Zhengxing 2,3; Wang, Jian 2,3; Li, Sijie 2,3; Tan, Min 2,3; Yu, Junzhi 1
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2023-10-12
页码	13
关键词	Biomimetic locomotion hammerhead shark robotic dynamics robotic fish
ISSN号	1083-4435
DOI	10.1109/TMECH.2023.3319324
通讯作者	Wu, Zhengxing(zhengxing.wu@ia.ac.cn)
英文摘要	In nature, the hammerhead shark possesses a special rolled swimming motion to combat the effects of inborn negative buoyancy. Inspired by this natural mechanism, we developed a novel biomimetic robotic hammerhead shark to explore the distinctive rolled swimming motion mode. First, a scaled-down robotic prototype is constructed based on the morphological characteristics of the hammerhead shark. Second, the kinematics and dynamics of fish-like swimming are built, thereafter, model identification and validation are performed to improve the accuracy of the robotic model. Furthermore, the physical effects of the long dorsal fin and the rolling state on swimming performance are investigated indepth by numerically simulating the lift and drag forces over different fin surfaces and the dynamic torque of the body. Finally, extensive aquatic experiments demonstrate the remarkable improvements on locomotion performance and propulsive efficiency of the robotic hammerhead shark by the proposed rolled motion. The obtained results provide a new solution for the long voyage of high-load robotic fish system.
资助项目	National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62233001] ; Beijing Natural Science Foundation[JL23006]
WOS关键词	DESIGN ; 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:001085454900001
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54373]
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	Wu, Zhengxing
作者单位	1.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 4.Fuzhou Univ, Dept Mech Engn, Fuzhou 350000, Peoples R China
推荐引用方式 GB/T 7714	Yan, Shuaizheng,Wu, Zhengxing,Wang, Jian,et al. Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:13.
APA	Yan, Shuaizheng,Wu, Zhengxing,Wang, Jian,Li, Sijie,Tan, Min,&Yu, Junzhi.(2023).Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy.IEEE-ASME TRANSACTIONS ON MECHATRONICS,13.
MLA	Yan, Shuaizheng,et al."Towards Unusual Rolled Swimming Motion of a Bioinspired Robotic Hammerhead Shark Under Negative Buoyancy".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):13.