相关论文: Biomorphic propulsion system diving thunniform rob…

Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate large inertial effects but pose risks in…

The move to high performance applications greatly increases the demand to produce large instantaneous fluid forces for high-speed maneuvering and improved power efficiency for sustained propulsion. Animals achieve remarkable feats of…

The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions.…

The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement…

Flapping-based propulsive systems rely on fluid-structure interactions to produce thrust. At intermediate and high Reynolds numbers, vortex formation and organization in the wake of such systems are crucial for the generation of a…

The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…

Improving the numerical method of fish autonomous swimming behavior in complex environments is of great significance to the optimization of bionic controller,the design of fish passing facilities and the study of fish behavior.This work has…

In this paper we present the study of the mathematical model of a real life joint used in an underwater robotic fish. Fluid-structure interaction is utterly simplified and the motion of the joint is approximated by D\"uffing's equation. We…

The focus of this paper is a key component of a methodology for understanding, interpolating, and predicting fish movement patterns based on spatiotemporal data recorded by spatially static acoustic receivers. Unlike GPS trackers which emit…

Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…

In undulatory swimming of fish, muscles contract sequentially along the body to generate a bending wave that pushes against the water and produces thrust. Here, we use a 3D computational fluid dynamics model coupled to the motion of the…

Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…

Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…

The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for…

Sinusoidal undulation has long been considered the most successful swimming pattern for fish and bionic aquatic robots [1]. However, a swimming pattern generated by the hair clip mechanism (HCM, part iii, Figure 1A) [2]~[5] may challenge…

The aim of this study is to develop surrogate models for quick, accurate prediction of thrust forces generated through flapping fin propulsion for given operating conditions and fin geometries. Different network architectures and…

For decades, people have been seeking for fishlike flapping motions that can realize underwater propulsion with low energy cost. Complexity of the nonstationary flow field around the flapping body makes this problem very difficult. In…

Synthetic microswimmers offer models for cell motility and their tunability makes them promising candidates for biomedical applications. Here we measure the acoustic propulsion of bimetallic micro-rods that, when trapped at the nodal plane…

Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…

The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the…