Design and Locomotion Control of a Myliobatid-inspired Robot Actuated by Passively-flexing Pectoral Fins

Songzi Guo, Zhiyin Li, Jinhua Zhang

2022

Abstract

This article proposes the mechanical design of a myliobatid-inspired robot (XJRoman-I) based on oscillatory swimming mechanism for both stability and agile manoeuvrability. Inspired by anatomical studies, a pair of passively bending pectoral fins are developed to generate propulsive force for the prototype. An elevator is adopted to adjust its pitch attitude. Primary experimental research on the effect of fin’s spanwise stiffness on swimming performance is performed to improve its swimming performance. By embedding a stiff rod into the fin’s leading edge, the thrust and lateral force generated by the fins are improved significantly. Finally, a CPG-based control method is introduced to make the prototype achieve different locomotion patterns including cruising by flapping pectoral fins and turning by modulating phase relation of pectoral fins. This paper mainly focuses on propulsive capability of stability and agility for the prototype, and expects to propose an excellent underwater vehicle covering wide range of applications.

Paper Citation

in Harvard Style

Guo S., Li Z. and Zhang J. (2022). Design and Locomotion Control of a Myliobatid-inspired Robot Actuated by Passively-flexing Pectoral Fins. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 353-360. DOI: 10.5220/0010857000003271

in Bibtex Style

@conference{icinco22,
author={Songzi Guo and Zhiyin Li and Jinhua Zhang},
title={Design and Locomotion Control of a Myliobatid-inspired Robot Actuated by Passively-flexing Pectoral Fins},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={353-360},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010857000003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design and Locomotion Control of a Myliobatid-inspired Robot Actuated by Passively-flexing Pectoral Fins
SN - 978-989-758-585-2
AU - Guo S.
AU - Li Z.
AU - Zhang J.
PY - 2022
SP - 353
EP - 360
DO - 10.5220/0010857000003271