Hydrodynamics of an Undulating Fin for a Wave-Like Locomotion System Design

Liu, Fangfang; Lee, Kok-Meng; Yang, Canjun

doi:10.1109/tmech.2011.2107747

Cited by 68 publications

(38 citation statements)

References 27 publications

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“…Note that this estimate uses the so-called statically balanced thrust [41] and neglects the yaw motion of the vehicle body [40] to compute the robot's terminal speed. Alternative estimates for the terminal speed based on slender body theory can be found in the study of Chen et al [42].…”

Section: Behavioural and Hydrodynamic Measurementsmentioning

confidence: 99%

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion

Marras

Porfiri

2012

J. R. Soc. Interface.

145

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The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.

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Section: Behavioural and Hydrodynamic Measurementsmentioning

confidence: 99%

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion

Marras

Porfiri

2012

J. R. Soc. Interface.

145

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“…Since 2001, bio-inspired undulating fin models [4][5][6][7][8][9][10][11] have been developed to investigate the undulation principles of knifefish. The aforementioned inconsistency does exist and has prevented robotic fish models from replicating the locomotion or behaviours of their biological counterparts.…”

Section: Control Problem Of Reproducing Animal Locomotionmentioning

confidence: 99%

Theoretical Insights on Contraction-Type Iterative Learning Control for Biorobotic Systems with Preisach Hysteresis

Wang

Zhou

et al. 2016

International Journal of Advanced Robotic Systems

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This article offers new insights on the learning control approach developed by [Hu et al. IEEE/ASME Trans. Mechatronics, 19(1): 191-200, 2014]. Theoretical insights are further proposed to unveil why the contraction-type iterative learning control (ILC) schemes are suitable and effective in compensating for hysteresis, widely existing in biorobotic locomotion. Under such circumstances, iteration-based second-order dynamics is adopted to describe the biorobotic systems acted upon by one unknown Preisach hysteresis term. The memory clearing operator is mathematically proven to enable feasibility of contractiontype ILC methods, regardless of whether the initial state is accurately set or not. The simulation examples confirm that the developed iteration-based controller combined with a preceded operator effectively reduce tracking errors caused by the hysteresis nonlinearity. Furthermore, the new insights on theoretical feasibility are definitively corroborated in accordance with the previously published experimental results.

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“…As relevant to the specified requirements in oceanic exploration, a series of robotic fin prototypes have been designed to mimic evolutionary wave-like locomotion [5]- [12]. Figure 2.…”

Section: Prototype Of Biorobotic Undulating Finsmentioning

confidence: 99%

“…Many biologically inspired robots have been proposed and developed during the past few years. As a typical case, biomimetic undulating fins (see, for example, [5]- [12]) have gained valuable inspiration in terms of higher efficiency, greater manoeuvring or stabilization and better state-keeping at low speeds from the fish, which generally swim using undulations of their long-based ribbon fins. Typical undulating fin prototypes are shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

“…Selected robotic undulating fin prototypes: (a) a knifefish (black ghost) inspired robot with single bottom undulating fin, which was developed by MacIver et al at Northwestern University, USA, adapted from [6]; (b) a squid inspired underwater robot with two undulating side fins, developed by Toda et al at Osaka University of Japan, adapted from [12] Several approaches have been employed to investigate biomimetic undulations. These include analytical models [13], [14] and more recently numerical simulations [6], [15]- [17], and prototype design and experiments [5]- [10], [12], [15], [18]- [20]. These undulating fins were expected to effectively complement conventional underwater propellers in the above-mentioned performance aspects.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Evaluating the Fin-Ray Trajectory Tracking of Bio-Inspired Robotic Undulating Fins via an Experimental-Numerical Approach

Xiang

Zhou

et al. 2014

International Journal of Advanced Robotic Systems

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In the past decade, biomimetic undulating fin propulsion has been one of the main topics considered by scientists and researchers in the field of robotic fish. This technology is inspired by the biological wave-like propulsion of ribbon-finned fish. The swimming modes have aquatic application potentials with greater manoeuvrability, less detectable noise or wake and better efficiency at low speeds. The present work concentrates on the evaluation of fin-ray trajectory tracking of biorobotic undulating fins at the levels of kinematics and hydrodynamics by using an experimental-numerical approach. Firstly, fin-ray tracking inconsistence between the desired and actual undulating trajectories is embodied with experimental data of the fin prototype. Next, the dynamics' nonlinearity is numerically and analytically unveiled by using the computational fluid dynamics (CFD) method, from the viewpoint of vortex shedding and the hydro-effect. The evaluation of fin-ray tracking performance creates a good basis for control design to improve the fin-ray undulation of prototypes.

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Hydrodynamics of an Undulating Fin for a Wave-Like Locomotion System Design

Cited by 68 publications

References 27 publications

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion

Theoretical Insights on Contraction-Type Iterative Learning Control for Biorobotic Systems with Preisach Hysteresis

Evaluating the Fin-Ray Trajectory Tracking of Bio-Inspired Robotic Undulating Fins via an Experimental-Numerical Approach

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