A Novel Fish-Inspired Robot with a Double-Cam Mechanism

Song, Zhibin; Fu, Zhongru; Romano, Donato; Dario, P.; Kang, Rongjie

doi:10.3390/machines10030190

Cited by 7 publications

(3 citation statements)

References 17 publications

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“…In recent decades, researchers have been highly interested in the high mobility and efficiency of fish, leading to the successful development of various robotic fish prototypes (Song et al , 2022; Romano et al , 2022). These prototypes were created by extracting appearance characteristics and movement principles from fish found in nature.…”

Section: Introductionmentioning

confidence: 99%

Path planning for robotic fish based on improved RRT* algorithm and dynamic window approach

Fu,

Chen,

et al. 2024

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Purpose The purpose of this paper is to address two major challenges faced by robotic fish when operating in underwater environments: insufficient path planning capabilities and difficulties in avoiding dynamic obstacles. To achieve this, a method is proposed that combines the Improved Rapid Randomized Tree Star (IRRT*) with the dynamic window approach (DWA). Design/methodology/approach The RRT-connect algorithm is used to determine an initial feasible path quickly. The quality of sampling points is then improved by dividing the regions and selecting each region’s probability based on its fitness value. The fitness function and roulette wheel method are introduced for region selection. Subtarget points of the DWA algorithm are extracted from the IRRT* algorithm to achieve real-time dynamic path planning. Findings In various maps, the iteration count for the IRRT* algorithm decreased by 61%, 35% and 51% respectively, compared to the RRT* algorithm, whereas the iteration time was reduced by 75%, 34% and 57%, respectively. In addition, the IRRT*-DWA algorithm can successfully navigate through multiple dynamic obstacles, and the average time, path length, etc. do not change much when parameters change, and the stability is high. Originality/value A novel IRRT*-DWA algorithm is proposed, which, by refining the sampling strategy and updating sub-target points in real time, not only addresses the limitations of existing algorithms in terms of path planning efficiency in complex environments but also enhances their capability to avoid dynamic obstacles. Ultimately, experimental results indicate a high level of similarity between the actual and ideal paths.

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Section: Introductionmentioning

confidence: 99%

Path planning for robotic fish based on improved RRT* algorithm and dynamic window approach

Fu,

Chen,

et al. 2024

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“…As stated before, several prototypes of bio-inspired underwater robots propelled both by carangiform and thunniform locomotion have been designed by researchers in the last thirty years. In the literature, the most common solution adopted to manufacture a carangiform swimming robot consists of a sealed forebody hinged to a piecewise flexible tail embodying a multi-joint, open-chain mechanism driven by dedicated servomotors or by a single rotary actuator [ 6 , 7 , 8 ]. A similar architecture has been employed to drive the caudal fins of thunniform swimming robots [ 9 ].…”

Section: Introductionmentioning

confidence: 99%

A Computational Fluid Dynamics Investigation of a Flapping Hydrofoil as a Thruster

et al. 2023

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The paper features a computational fluid dynamics study of a flapping NACA0015 hydrofoil moving with a combination of sinusoidal heaving and pitching. Several kinematic configurations are explored, varying sequentially pitch and heave amplitude, Strouhal number and phase angle, in an attempt to determine the influence of each parameter on the propulsive performance. To optimize efficiency the angle of attack should assume the highest value that also avoids the arise of the leading edge vortex generated in the dynamic stall state. At low Strouhal number optimum is reached at high heave amplitudes, which correspond to the configurations minimizing the hysteresis in the (Cy,Cx) plane. The same outcome in terms of hysteresis minimization has been verified to occur when optimal phase shift was considered. Differently, when the Strouhal number and the angle of attack become higher, to exploit efficiently the lift increment owed to dynamic stall it emerged the necessity of adopting low heave amplitude to improve separation resistance, avoiding the occurrence of deep stall.

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“…They can generate greater thrust force and reach higher speed but the cavitation effect under high rotation speed will also cause higher noise and lower efficiency [3]. To compensate for these shortcomings, researchers find inspiration from fish and other aquatic creatures to develop various kinds of underwater robots based on the principle of bionic propulsion [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Design and Hydrodynamic Experiment Research on Novel Biomimetic Pectoral Fins of a Ray-Inspired Robotic Fish

Chen

Cai

et al. 2022

Machines

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Bionic propulsion has certain advantages over traditional propellers. Much research on pectoral fins as bionic propellers for ray-inspired robots has been made, but rarely did they compare the hydrodynamic performance of different fins on the same platform to find out optimal balance. In this paper, the existing prototypes are categorized into three structure types, and a new bionic pectoral fin module used on a ray-inspired robotic fish was presented, together with a novel 2-DOF spatial parallel mechanism as the bionic propeller. Motion analysis of the mechanism agreed well with the pectoral fin kinematic model, providing a reliable basis to test different types of fins. Design and fabrication of the new bionic fin module as well as two traditional ones are also explained. Hydrodynamic experiment was conducted to study the differences between each fin type under various working conditions. Results indicate that the thrust generated by the fin oscillation is closely related to four parameters (amplitude, frequency, phase difference, and flow velocity), and there are optimal value ranges for better propelling performance when the frequency is around 0.5 Hz and phase difference is near 30°. Thanks to better profile preservation and hydro force interaction, the newly proposed pectoral fins had higher performance than the traditional ones in terms of thrust generation and controllability when the amplitude is higher than 30° and frequency is over 0.3 Hz. An average thrust of 2.98 N was recorded for the new fin module at the max amplitude of 60°, 11.6% and 16.4% higher than the other two comparative test groups, respectively.

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A Novel Fish-Inspired Robot with a Double-Cam Mechanism

Cited by 7 publications

References 17 publications

Path planning for robotic fish based on improved RRT* algorithm and dynamic window approach

Path planning for robotic fish based on improved RRT* algorithm and dynamic window approach

A Computational Fluid Dynamics Investigation of a Flapping Hydrofoil as a Thruster

Design and Hydrodynamic Experiment Research on Novel Biomimetic Pectoral Fins of a Ray-Inspired Robotic Fish

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