Water Surface Stability Prediction of Amphibious Bio-Inspired Undulatory Fin Robot

Chen, Zhenhan; Hu, Qiao; Chen, Yingliang; Chang, Wei; Yin, Shenglin

doi:10.1109/iros51168.2021.9636182

Cited by 7 publications

(2 citation statements)

References 17 publications

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“…2). Such a motion is also a great source of inspiration for kinetic artifacts such as robots using this swimming gait (Chen et al 2021;Filardo et al 2020). When surfaces transform in general, they either change or keep their intrinsic metric, i.e., the distances and angles along the surfaces.…”

Section: Introductionmentioning

confidence: 99%

Growth-induced transformable surfaces realized by bending-active scissors grid

Ono,

Kamijo,

Kase

et al. 2024

ARIN

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Ruffled surfaces that appear in biological forms, such as coral and lettuce, are a great source of inspiration for architectural and furniture design. This paper proposes a mechanism based on a bending-active scissors grid that effectively reproduces the process of differential growth. The structure can deploy from a linearly folded state with rotational symmetry to a complex ruffled surface without rotational symmetry. The deployed shape further exhibits a wave-like motion similar to the swimming gait of flatworms or cuttlefish. First, we propose a design method for the mechanism computed from the surface of constant negative Gaussian curvature. We then numerically analyze the symmetry-breaking process of deployment and zero-stiffness wave-like motion after deployment. We built two demonstrators to verify the deployment and the transformation. The first demonstrator with 1.5m diameter was fabricated to verify the symmetry-breaking deployment motion. The second demonstrator with 0.9m diameter was fabricated to demonstrate the wave-like motion by controlled pulling of the group of threads.

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Section: Introductionmentioning

confidence: 99%

Growth-induced transformable surfaces realized by bending-active scissors grid

Ono,

Kamijo,

Kase

et al. 2024

ARIN

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“…Therefore, research institutions such as Northwestern University and Nanyang University of Technology have studied various organisms which swim by means of an undulating fin, such as manta ray [9][10][11], stingray [12], black ghost knifefish [13,14], Rhinoptera javanica [15], and seahorse [16]. The various approaches they employed encompass analysis of kinematic data from live swimming fish [17], computational fluid dynamics (CFD) studies [13,18,19], and theoretical modeling [4,20,21]. Based on the research of undulating fin propulsion, many bionic prototypes of robotic fish have been designed and manufactured.…”

Section: Introductionmentioning

confidence: 99%

Inspired by the Black Ghost Knifefish: Bionic Design of Undulatory Fin with 2-DOF Rays and Its Propulsion Performance

Zhou

Liu

et al. 2023

Applied Bionics and Biomechanics

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The demand for high-performance underwater thrusters in marine engineering is increasing. The concealed, mobile, and efficient underwater ability of fish provides many directions for research. The black ghost knifefish uses only wavy ventral fins to swim and can hover and roll in the water. Based on the physiological and morphological characteristics of the black ghost knifefish, we explored the structure and movement mode of the ventral fin, so as to establish a two-degree of freedom (2-DOF) structural model and kinematic model. We reveal the motion mechanism of the undulating fin propulsion through the constructed model and computational fluid dynamics. It is found that when the fin surface fluctuates, a pair of vortices with opposite directions will be formed on the concave side of the fin surface. These vortices will produce a central jet on the fin surface, provide a reverse impulse for the ventral fin, and make the fin obtain power. In addition, we found that the propulsive force of the ribbon fin along the body direction is positively correlated with the swing amplitude and frequency of the fin movement, and the propulsive torque of the ribbon fin to realize the maneuvering movement increases first and then decreases with the increase of the torsion angle. The research on the structure and motion mechanism of the ribbon fin of the black ghost knifefish provides a basis for the development of a bionic prototype of multi-DOF motion and the control strategy of high-mobility motion.

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A comparison for hydrodynamic performance of undulating fin propulsion on numerical self-propulsion and tethered models

Chang

Shi

et al. 2022

Ocean Engineering

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Water Surface Stability Prediction of Amphibious Bio-Inspired Undulatory Fin Robot

Cited by 7 publications

References 17 publications

Growth-induced transformable surfaces realized by bending-active scissors grid

Growth-induced transformable surfaces realized by bending-active scissors grid

Inspired by the Black Ghost Knifefish: Bionic Design of Undulatory Fin with 2-DOF Rays and Its Propulsion Performance

A comparison for hydrodynamic performance of undulating fin propulsion on numerical self-propulsion and tethered models

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