Biological inspirations, kinematics modeling, mechanism design and experiments on an undulating robotic fin inspired by Gymnarchus niloticus

Hu, Tianjiang; Shen, Lincheng; Li, Lin; Xu, Hui

doi:10.1016/j.mechmachtheory.2008.08.013

Cited by 112 publications

(79 citation statements)

References 21 publications

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“…As many recent studies have reported that fish can actively deform their fins to achieve different types of locomotion, more and more researchers have realized the importance of these flexible propulsion surfaces on enchancing ability of swimming. Such propulsion surfaces include dorsal fins [2][3][4] and pectoral fins [5][6][7] in body and caudal fin (BCF) propulsion and ribbon fins [8][9][10] in median and paired fin (MPF) propulsion. As the most conspicuous appendage of the fish's body, the caudal fin has also been studied extensively [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Investigation of Fish Caudal Fin Locomotion Using a Bio-Inspired Robotic Model

Wang

Wen

2016

International Journal of Advanced Robotic Systems

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Due to its advantages of realizing repeatable experiments, collecting data and isolating key factors, the bio-robotic model is becoming increasingly important in the study of biomechanics. The caudal fin of fish has long been understood to be central to propulsion performance, yet its contribution to manoeuverability, especially for homocercal caudal fin, has not been studied in depth. In the research outlined in this paper, we designed and fabricated a robotic caudal fin to mimic the morphology and the three-dimensional (3D) locomotion of the tail of the Bluegill Sunfish (Lepomis macrochirus). We applied heave and pitch motions to the robot to model the movement of the caudal peduncle of its biological counterpart. Force measurements and 2D and 3D digital particle image velocimetry were then conducted under different movement patterns and flow speeds. From the force data, we found the addition of the 3D caudal fin locomotion significantly enhanced the lift force magnitude. The phase difference between the caudal fin ray and peduncle motion was a key factor in simultaneously controlling the thrust and lift. The increased flow speed had a negative impact on the generation of lift force. From the average 2D velocity field, we observed that the vortex wake directed water both axially and vertically, and formed a jet-like structure with notable wake velocity. The 3D instantaneous velocity field at 0.6 T indicated the 3D motion of the caudal fin may result in asymmetry wake flow patterns relative to the mid-sagittal plane and change the heading direction of the shedding vortexes. Based on these results, we hypothesized that live fish may actively tune the movement between the caudal fin rays and the peduncle to change the wake structure behind the tail and hence obtain different thrust and lift forces, which contributes to its high manoeuvrability.

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Section: Introductionmentioning

confidence: 99%

Investigation of Fish Caudal Fin Locomotion Using a Bio-Inspired Robotic Model

Wang

Wen

2016

International Journal of Advanced Robotic Systems

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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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“…Hu et al (Hu et al, 2009) developed a motor-driven undulating fin actuator to model the kinematics of G. niloticus, the one African weakly electric fish that uses a dorsal median ribbon fin, and to analyze its propulsion mechanics with respect to multiple fin parameters. Shang et al (Shang et al, 2012) designed and built a biomimetic underwater vehicle with two lateral undulating fins (Fig.1D).…”

Section: Physical Modelsmentioning

confidence: 99%

“…The longitudinally symmetric Ghostbot does not have this problem, which may have many benefits for simplifying control of an underwater vehicle using ribbon fin propulsion. Hu et al (Hu et al, 2009) measured differently shaped waveforms in forward and backward swimming in knifefish, indicating asymmetry in the kinematics may be important for backward swimming.…”

Section: Angled Thrustmentioning

confidence: 99%

“…The Ghostbot uses a Lycra fin with a Young's modulus of 0.2MPa, similar to fin membrane measured in another species of fish (Curet et al, 2011b). Hu et al (Hu et al, 2009) compared two fin materials, a material stiffer than Lycra with a Young's modulus less than 1GPa (low density polyethylene) and an even harder material with a Young's modulus between 1.2 and 1.5GPa (polypropylene). While the swimming velocity of the fins of the two materials did not vary significantly, the researchers did find an increase in efficiency in a few cases for the softer material.…”

Section: Varying Mechanical Properties Of the Ribbon Finmentioning

confidence: 99%

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Biomimetic and bio-inspired robotics in electric fish research

Neveln

Bai

Snyder

et al. 2013

Journal of Experimental Biology

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SummaryWeakly electric knifefish have intrigued both biologists and engineers for decades with their unique electrosensory system and agile swimming mechanics. Study of these fish has resulted in models that illuminate the principles behind their electrosensory system and unique swimming abilities. These models have uncovered the mechanisms by which knifefish generate thrust for swimming forward and backward, hovering, and heaving dorsally using a ventral elongated median fin. Engineered active electrosensory models inspired by electric fish allow for close-range sensing in turbid waters where other sensing modalities fail. Artificial electrosense is capable of aiding navigation, detection and discrimination of objects, and mapping the environment, all tasks for which the fish use electrosense extensively. While robotic ribbon fin and artificial electrosense research has been pursued separately to reduce complications that arise when they are combined, electric fish have succeeded in their ecological niche through close coupling of their sensing and mechanical systems. Future integration of electrosense and ribbon fin technology into a knifefish robot should likewise result in a vehicle capable of navigating complex 3D geometries unreachable with current underwater vehicles, as well as provide insights into how to design mobile robots that integrate high bandwidth sensing with highly responsive multidirectional movement.

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Biological inspirations, kinematics modeling, mechanism design and experiments on an undulating robotic fin inspired by Gymnarchus niloticus

Cited by 112 publications

References 21 publications

Investigation of Fish Caudal Fin Locomotion Using a Bio-Inspired Robotic Model

Investigation of Fish Caudal Fin Locomotion Using a Bio-Inspired Robotic Model

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

Biomimetic and bio-inspired robotics in electric fish research

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