Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis
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, nec...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-05-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200380 |
| _version_ | 1797823380431306752 |
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| author | Jinguo Huang Tianmiao Wang Jianhong Liang Xingbang Yang Haodong Wang Guixia Kang |
| author_facet | Jinguo Huang Tianmiao Wang Jianhong Liang Xingbang Yang Haodong Wang Guixia Kang |
| author_sort | Jinguo Huang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-13T10:23:10Z |
| format | Article |
| id | doaj.art-c7346d43d41d47dfa3287907edc2807e |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-13T10:23:10Z |
| publishDate | 2023-05-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-c7346d43d41d47dfa3287907edc2807e2023-05-20T03:54:51ZengWileyAdvanced Intelligent Systems2640-45672023-05-0155n/an/a10.1002/aisy.202200380Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic AnalysisJinguo Huang0Tianmiao Wang1Jianhong Liang2Xingbang Yang3Haodong Wang4Guixia Kang5School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing 100876 ChinaSchool of Mechanical Engineering and Automation Beihang University Beijing 100083 ChinaSchool of Mechanical Engineering and Automation Beihang University Beijing 100083 ChinaSchool of Biological Science and Medical Engineering Beihang University Beijing 100083 ChinaSchool of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing 100876 ChinaSchool of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing 100876 ChinaCormorants (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.https://doi.org/10.1002/aisy.202200380biomimeticsflipper-propelled locomotionhydrodynamic analysiskinematic conformationskeleton skinning |
| spellingShingle | Jinguo Huang Tianmiao Wang Jianhong Liang Xingbang Yang Haodong Wang Guixia Kang Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis Advanced Intelligent Systems biomimetics flipper-propelled locomotion hydrodynamic analysis kinematic conformation skeleton skinning |
| title | Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis |
| title_full | Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis |
| title_fullStr | Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis |
| title_full_unstemmed | Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis |
| title_short | Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis |
| title_sort | biorobotic waterfowl flipper with skeletal skins in a computational framework kinematic conformation and hydrodynamic analysis |
| topic | biomimetics flipper-propelled locomotion hydrodynamic analysis kinematic conformation skeleton skinning |
| url | https://doi.org/10.1002/aisy.202200380 |
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