Course Control of a Manta Robot Based on Amplitude and Phase Differences

Hao, Yiwei; Cao, Yong; Cao, Yonghui; Huang, Qiaogao; Pan, Guang

doi:10.3390/jmse10020285

Cited by 20 publications

(5 citation statements)

References 41 publications

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“…At the same time, it is defined as the pectoral fin flapping mode when the space asymmetry coefficient α i line R i is not equal to 0, and λ i represents the ratio of the maximum Z-axis displacement of the fin in the whole down (or up) stroke. The space asymmetry coefficient λ i is shown in Equation (10).…”

Section: Construction Of Cpg Phase Oscillatormentioning

confidence: 99%

“…It achieves self-excited oscillations through mutual inhibition between neurons, generating stable periodic signals that lead to the rhythmic movements of limbs and trunk positions. A few studies have examined the biologically inspired swimming control of robotic fish using CPG [9,10]. A CPG network based on the Hopf oscillator was used to control the robot fish Roman-ii, and the modes of forward, backward, turn, and switch between the modes were realized [11,12].…”

Section: Introductionmentioning

confidence: 99%

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Similarity Evaluation Rule and Motion Posture Optimization for a Manta Ray Robot

Cao

et al. 2022

JMSE

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The current development of manta ray robots is usually based on functional bionics, and there is a lack of bionic research to enhance the similarity of motion posture. To better exploit the characteristics of bionic, a similarity evaluation rule is constructed herein by a Dynamic Time Warping (DTW) algorithm to guide the optimization of the control parameters of a manta ray robot. The Central Pattern Generator (CPG) network with time and space asymmetry oscillation characteristics is improved to generate coordinated motion control signals for the robot. To optimize similarity, the CPG network is optimized with the genetic algorithm and particle swarm optimization (GAPSO) to solve the problems of multiple parameters, high non-linearity, and uncertain parameter coupling in the CPG network. The experimental results indicate that the similarity between the forward motion pose of the optimized manta ray robot and the manta ray is improved to 88.53%.

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Section: Construction Of Cpg Phase Oscillatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Similarity Evaluation Rule and Motion Posture Optimization for a Manta Ray Robot

Cao

et al. 2022

JMSE

Self Cite

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“…Li et al [ 20 ] found in their three-dimensional analysis that the pectoral fin changed the behavior of rotational motion when the pectoral fins performed an asymmetric motion on the left and right. The effects of the phase difference between the left and right pectoral fins on swimming in rays and manta rays have also been reported [ 21 , 22 ]. From this point, the hydrodynamic interaction between the pectoral fins and the body is considered to be working in the out-of-synchronized motion of the body and the pectoral fins, resulting in complex swimming of the fish.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Numerical Study of Hydrodynamic Interactions between Pectoral Fins and the Body of Aquatic Organisms

Morifusa,

Fukui

2024

Biomimetics

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Fish swimming has attracted attention as a locomotion system with excellent propulsive efficiency. They swim by moving their body, fins, and other organs simultaneously, which developed during evolution. Among their many organs, the pectoral fin plays a crucial role in swimming, such as forward–backward movement and change of direction. In order to investigate the hydrodynamic interaction between pectoral fins and fish bodies, we examined the asymmetric flapping motion of the pectoral fin concerning the body axis and investigated the effect of the pectoral fin on the propulsive performance of the body of a small swimming object by numerical simulation. In this study, the amplitude ratio, frequency ratio, and phase of the body and pectoral fin varied. Therefore, although propulsive performance increased in tandem with the frequency ratio, the amplitude ratio change had negatively affected the propulsive performance. The results revealed that the propulsive performance of the fish was high even in low-frequency ratios when the phase difference was varied. The highest propulsion efficiency increased by a factor of about 3.7 compared to the phase difference condition of 0.

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“…Similarly, the Manta Ray Robot has fins actuated by an articulated mechanism actuated by two servomotors which recreate the curvature and the traveling wave on the fin [ 23 ]. The Manta Robot has three motors for each fin which give it excellent maneuverability thanks to the control algorithm based on phase oscillators [ 24 ]. Fins actuated by several mechanisms are also present in the Bionic Manta Ray Robot [ 25 ] and in the Robotic Manta [ 26 ].…”

Section: Introductionmentioning

confidence: 99%

A Bioinspired Cownose Ray Robot for Seabed Exploration

et al. 2023

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This article presents the design and the experimental tests of a bioinspired robot mimicking the cownose ray. These fish swim by moving their large and flat pectoral fins, creating a wave that pushes backward the surrounding water so that the fish is propelled forward due to momentum conservation. The robot inspired by these animals has a rigid central body, housing motors, batteries, and electronics, and flexible pectoral fins made of silicone rubber. Each of them is actuated by a servomotor driving a link inside the leading edge, and the traveling wave is reproduced thanks to the flexibility of the fin itself. In addition to the pectoral fins, two small rigid caudal fins are present to improve the robot’s maneuverability. The robot has been designed, built, and tested underwater, and the experiments have shown that the locomotion principle is valid and that the robot is able to swim forward, perform left and right turns, and do floating or diving maneuvers.

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Course Control of a Manta Robot Based on Amplitude and Phase Differences

Cited by 20 publications

References 41 publications

Similarity Evaluation Rule and Motion Posture Optimization for a Manta Ray Robot

Similarity Evaluation Rule and Motion Posture Optimization for a Manta Ray Robot

Three-Dimensional Numerical Study of Hydrodynamic Interactions between Pectoral Fins and the Body of Aquatic Organisms

A Bioinspired Cownose Ray Robot for Seabed Exploration

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