A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin
Based on the observation that live fish caudal fins exhibit softness, flexibility, and active deformation, which are essential for generating thrust, stability, and maneuverability, herein, a comprehensive study on a novel type of bionic robotic fish with an actively deformable caudal fin is present...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-11-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202300276 |
| _version_ | 1797449911016357888 |
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| author | Yaohui Xu Bingbing Dong Changzhen Zheng Qiyang Zuo Kai He Fengran Xie |
| author_facet | Yaohui Xu Bingbing Dong Changzhen Zheng Qiyang Zuo Kai He Fengran Xie |
| author_sort | Yaohui Xu |
| collection | DOAJ |
| description | Based on the observation that live fish caudal fins exhibit softness, flexibility, and active deformation, which are essential for generating thrust, stability, and maneuverability, herein, a comprehensive study on a novel type of bionic robotic fish with an actively deformable caudal fin is presented. The article first presents the design of the robot. Next, the quasisteady model theory is used to establish the hydrodynamic force for modeling the deformable caudal fin. Furthermore, three deformation modes are studied and compared: the conventional nondeformable mode, the sine‐based mode, and the instantaneous mode. Finally, a series of extensive experiments are conducted to evaluate various performance metrics of this innovative untethered biomimetic robotic fish, including thrust, swimming speed, yaw stability, turning radius, and turning rate. The results demonstrate that the introduction of active deformation of the caudal fin significantly enhances the swimming performance in the aforementioned indices when compared to the conventional nondeformable mode. Notably, the instantaneous mode exhibits best performance in terms of thrust, swimming speed, turning radius, and turning rate, while the sine‐based mode demonstrates the best yaw stability. Consequently, this research contributes to the advancement of robotic fish design and the development of underwater biomimetic robots. |
| first_indexed | 2024-03-09T14:32:53Z |
| format | Article |
| id | doaj.art-aac2f180b8ba45e3a4e99416ac1c7e7a |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-09T14:32:53Z |
| publishDate | 2023-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-aac2f180b8ba45e3a4e99416ac1c7e7a2023-11-27T21:14:08ZengWileyAdvanced Intelligent Systems2640-45672023-11-01511n/an/a10.1002/aisy.202300276A Novel Untethered Robotic Fish with an Actively Deformable Caudal FinYaohui Xu0Bingbing Dong1Changzhen Zheng2Qiyang Zuo3Kai He4Fengran Xie5Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 ChinaShenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 ChinaShenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 ChinaShenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 ChinaShenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 ChinaSchool of Artificial Intelligence Shenzhen Polytechnic Shenzhen 518055 ChinaBased on the observation that live fish caudal fins exhibit softness, flexibility, and active deformation, which are essential for generating thrust, stability, and maneuverability, herein, a comprehensive study on a novel type of bionic robotic fish with an actively deformable caudal fin is presented. The article first presents the design of the robot. Next, the quasisteady model theory is used to establish the hydrodynamic force for modeling the deformable caudal fin. Furthermore, three deformation modes are studied and compared: the conventional nondeformable mode, the sine‐based mode, and the instantaneous mode. Finally, a series of extensive experiments are conducted to evaluate various performance metrics of this innovative untethered biomimetic robotic fish, including thrust, swimming speed, yaw stability, turning radius, and turning rate. The results demonstrate that the introduction of active deformation of the caudal fin significantly enhances the swimming performance in the aforementioned indices when compared to the conventional nondeformable mode. Notably, the instantaneous mode exhibits best performance in terms of thrust, swimming speed, turning radius, and turning rate, while the sine‐based mode demonstrates the best yaw stability. Consequently, this research contributes to the advancement of robotic fish design and the development of underwater biomimetic robots.https://doi.org/10.1002/aisy.202300276biomimeticsdeformable caudal finsperformance improvementrobotic fishes |
| spellingShingle | Yaohui Xu Bingbing Dong Changzhen Zheng Qiyang Zuo Kai He Fengran Xie A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin Advanced Intelligent Systems biomimetics deformable caudal fins performance improvement robotic fishes |
| title | A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin |
| title_full | A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin |
| title_fullStr | A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin |
| title_full_unstemmed | A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin |
| title_short | A Novel Untethered Robotic Fish with an Actively Deformable Caudal Fin |
| title_sort | novel untethered robotic fish with an actively deformable caudal fin |
| topic | biomimetics deformable caudal fins performance improvement robotic fishes |
| url | https://doi.org/10.1002/aisy.202300276 |
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