The kinematics analysis of webbed feet during cormorants' swimming

Huang, Jinguo; Gong, Xiaohua; Wang, Zeyu; Xue, Xiaoqiang; Yang, Xingbang; Liang, Jianhong; Zhang, Daibing

doi:10.1109/robio.2016.7866339

Cited by 6 publications

(5 citation statements)

References 11 publications

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“…The measured position data of V 1 –V 10, shown in Figure b, can be obtained from an experiment. [ 26 ] Preliminary processing of experimental data is required, and a transformation is carried out: the height direction is z direction, the plane z = 0 is coincident with the water surface, while x is pointing in the direction of the knee‐head vector. To describe the locomotion of the cormorant by fitting the experimental data of its flipper, the fitting expression ξ (t) needs to be optimized to minimize the objective function.…”

Section: Resultsmentioning

confidence: 99%

“…[ 25 ] In our recent research, we quantitatively analyzed the 3D maneuvering trajectories of the flipper with underwater stereo‐videography. [ 26 ] However, current computational frameworks generally require certain simplification assumptions of model rigidization, neglecting the real complex curved surfaces, relative internal locomotion, and active volumetric variable deformations. Conversely, natural flippers have uneven shapes and intricate biological components, leading to a problematic acquisition of adequate deformation parameters.…”

Section: Introductionmentioning

confidence: 99%

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Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis

Huang

Wang

Liang

et al. 2023

Advanced Intelligent Systems

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Cormorants (Phalacrocoraxe), types of aquatic birds, utilize the compliance/flexibility of the flippers and exploit hydrodynamic/biomechanic processes to accomplish diverse operations. Particularly, the flipper‐propelled locomotion exhibits traits such as super‐redundancy and large deformations, necessitating depiction of both movements of the rigid skeletons as well as local deformations of the soft tissues. However, there are few well‐established kinematic/hydrodynamic framework models and constitutive equations for such rigid–flexible intrinsically coupled biosystems. Herein, combined with a skeletal skinning algorithm to handle the deformation of a flexible body attached to a rigid body, a numerical computation framework for an in‐depth fluid–structure interaction is presented, which enables the capture of viscoelastic and anisotropic characteristics of a highly compliant 3D rigid–flexible coupled model in a low‐Reynolds‐number flow. Considering the biorobotic cormorant flipper with a nonuniformly distributed stiffness as a representative, the challenging issue of controlling a biomechanically compliant flipper to synthesize realistic locomotion sequences, including rigid skeleton movements and soft tissue deformations, is addressed. Furthermore, a numerical computational hydrodynamic analysis is performed to demonstrate that the cormorant flipper can generate 5 N fluid force and 0.45 N m fluid moment during the turning operation in 0.8 s, which is consistent with the former experimental results.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis

Huang

Wang

Liang

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…Therefore, such inconsistency should be neglected with respect to the biological reality. Actually, the water-facing areas of the rigid webbed foot in the x and z direction, at its peak, are three times and twice those of the flexible webbed foot [38], so in the recovery stage, only 1/3 and 1/2 of the forces are effective.…”

Section: Resultsmentioning

confidence: 99%

“…Moreover, we smoothed the surface of the cormorant physical model to ensure the convergence of the calculation, of which the beak is simplified as an ellipsoid and the edge of the webbed foot is smoothed into a rounded shape. On the other hand, we calculated the locomotion of cormorants according to data extracted from the observed experimental results [38], complementally instructed in Section 3 in Online Resource 1. Specifically, the locomotion coordinate of the cormorant is shown in Fig.…”

Section: Kinematicsmentioning

confidence: 99%

Cormorant Webbed-feet Support Water-surface Takeoff: Quantitative Analysis via CFD

et al. 2021

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“…As for the question of how to achieve rapid AquaUAV's take-off from the water surface, our research group supposed that it can be realized by imitating the take-off process of cormorant [15]. It is known that the cormorants' hydroplaning strategy has been employed as design principles of aerialaquatic locomotion by some UAVs [16].…”

Section: Introductionmentioning

confidence: 99%

CFD Based Investigation on the Hydroplaning Mechanism of a Cormorant’s Webbed Foot Propulsion

et al. 2020

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Aquatic unmanned aerial vehicles (AquaUAV) have aroused much attention from researchers, though no fully-featured aerial-aquatic UAV exists so far. The assistance of webbed foot hydroplaning can accomplish rapid takeoff of a cormorant. A significant impact force and moment can be generated due to the webbed foot propulsion in the water-to-air transition. However, the change law of force and moment experienced by the cormorant during takeoff has not been captured. Based on previous achievements in the biological investigation, we developed a biomimetic prototype with curve fitting model and parameter optimization to attain specific movements to imitate cormorant's hydroplaning strategy. The bionic webbed foot considers the elastic mechanics, and the forepart is regarded as flexible material for fluid-structure interaction (FSI). Dynamic process of rapid takeoff in the aspects of flow characteristics and mechanical properties can be estimated by computational fluid dynamics (CFD) in our proposed FSI model, which establishes a foundation for further applications in the design of the assisted propulsion system of aerialaquatic UAV. INDEX TERMS Biomimetics, computational biophysics, fluid dynamics, coupled mode analysis, military aircraft.

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The kinematics analysis of webbed feet during cormorants' swimming

Cited by 6 publications

References 11 publications

Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis

Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis

Cormorant Webbed-feet Support Water-surface Takeoff: Quantitative Analysis via CFD

CFD Based Investigation on the Hydroplaning Mechanism of a Cormorant’s Webbed Foot Propulsion

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