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Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

Journal of Bionic Engineering 2022年第5期19卷 1261-1271页

作者： Jiang Ding Changzhen Zheng Chaocheng Song Qiyang Zuo Yaohui Xu Bingbing Dong Jiaxu Cui Kai He Fengran Xie College of Mechanical Engineering Guangxi UniversityNanning 530004China Guangxi Key Lab of Manufacturing System and Advanced Manufacturing Technology Nanning 530004China Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Key Laboratory of Precision Engineering Shenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China College of Mechanical Automation Wuhan University of Science and TechnologyWuhan 430000China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

Due to the unique locomotion,the head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear locomotion,which strongly hinders its practical *** this paper,we experimentally study this problem by proposing the method of coordination control between the caudal fin and anal ***,an untethered biomimetic robotic fish,equipped with an anal fin,a caudal fin and two pectoral fins,is developed as the experimental ***,a Central Pattern Generator(CPG)-based controller is used to coordinate the motions of the anal fin and caudal ***,extensive experiments are conducted to explore different combinations of the flapping frequencies,the flapping amplitudes,and the phase differences between the anal fin and caudal ***,through proper control of the anal fin,the amplitude of the yaw motion can be as small as 4.32°,which sees a 65%improvement compared to the scenario without anal fin,and a 57%improvement compared to that with a stationary anal *** paper provides a novel way to alleviate the head-shaking problem for biomimetic robotic fish,and first test this method on an untethered,freely swimming robotic platform,which can shed light on the development of underwater robotics.

关键词： Biomimetic robotic fish Anal fin head-shaking Yaw stability

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