Abstract
To simulate the complex and continuous undulation of fishtail in nature, the method of adopting the discrete Multi-Joint mechanism requires a certain number of degrees of freedom, which results in the complexities of mechanism and control necessarily. Compared with Multi-Joint, flexible tail is a better scheme due to continuum, robustness, and simpler control. Hence, this paper proposes a wire-driven elastic robotic fish with flexible tail, which simulates fish muscle through multi-wire drive and adopts a fishlike spine design based on elastic component. Due to these distinctive designs, our robotic fish not only realizes the compliant simulation of fishlike swimming gait, but also owns higher bionic degree. Further, the kinematics model and speed estimation model of the wire-driven elastic robotic fish are developed, and the error between the body wave and the desired fishlike swimming gait is further optimized so as to determine the appropriate parameters of central pattern generator. The results show that the optimized body wave of fishtail matches well with the desired fishlike swimming gait and the RMSE of the stable swimming speed between simulations and experiments is 0.045 m/s, which validates the proposed model and optimization method. Finally, the relationships between the frequency and swimming speed under small amplitude are explored, from which we find that amplitude has a greater impact on speed than frequency at high frequency, and the maximum swimming speed of about 0.54 m/s, i.e., 1.02 BL/s, is obtained.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Data and code availability
All data and code generated during and analysed during the current study are available from the corresponding author on reasonable request.
References
Du, R., Li, Z., Youcef-Toumi, K., Alvarado, P. V. (eds.): Robot Fish: Bio-inspired Fishlike Underwater Robots. Springer, Germany (2015)
Scaradozzi, D., Palmieri, G., Costa, D., Pinelli, A.: BCF Swimming locomotion for autonomous underwater robots: a review and a novel solution to improve control and efficiency. Ocean Eng. 130, 437–453 (2017)
Estarki, M., Varnousfaderani, R.H., Ghafarirad, H., Zareinejad, M.: Design and Implementation of a Soft Robotic Fish Based on Carangiform Fish Swimming. In: 2021 9Th RSI International Conference on Robotics and Mechatronics (ICRom). pp. 322-328, IEEE, Tehran, Iran, Republic of Islamic (2021)
Zhong, Y., Li, Z., Du, R.: A novel robot fish with wire-driven active body and compliant tail. IEEE/ASME Trans. Mechatron. 22(4), 1633–1643 (2017)
Li, Z., Zhong, Y., Du, R.: A novel underactuated wire-driven robot fish with vector propulsion. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 941-946, IEEE, Tokyo (2013)
Lau, W.P., Zhong, Y., Du, R., Li, Z.: Bladderless swaying wire-driven robot shark. In: 2015 IEEE 7Th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), pp. 155-160. IEEE, Siem Reap, Cambodia (2015)
Marcheseandrew, D., Onalcagdas, D.: Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators. Soft Rob. 1(1), 75–87 (2014)
Aubin, C.A., Choudhury, S., Jerch, R., Archer, L.A., Pikul, J.H., Shepherd, R.F.: Electrolytic vascular systems for energy-dense robots. Nature 571(7763), 51–57 (2019)
Li, G., Chen, X., Zhou, F., Liang, Y., Xiao, Y., Cao, X., Yang, W.: Self-powered soft robot in the Mariana Trench. Nature 591(7848), 66–71 (2021)
Liu, J., Hu, H.: Biological inspiration: from carangiform fish to multi-joint robotic fish. J. Bionic Eng. 7(1), 35–48 (2010)
Wang, C., Xie, G., Wang, L., Cao, M.: CPG-Based locomotion control of a robotic fish: Using linear oscillators and reducing control parameters via PSO. International Journal of Innovative Computing Information and Control 7(7B), 4237–4249 (2011)
Yang, W., Wu, P., Zhou, X., Zhu, P., Liu, X.: Central Pattern Generator Model Design and Gait Control Research of Amphibious Robotic Fish. J. Phys: Conf. Ser. 2029(1), 012109 (2021)
Cao, Y., Ma, S., Xie, Y., Hao, Y., Zhang, D., He, Y., Cao, Y.: Parameter optimization of CPG network based on PSO for manta ray robot. In: Wu, M., Niu, Y., Gu, M., Cheng, J (eds.) Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021), pp. 3062-3072, Springer, Singapore (2022)
Wang, W., Xie, G., Shi, H.: Dynamic Modeling of an Ostraciiform Robotic Fish Based on Angle of Attack Theory. In: 2014 International Joint Conference on Neural Networks (IJCNN), pp. 3944-3949, IEEE, Beijing (2014)
Zhang, Y., Li, Z., Du, Y.: Closed-Loop Pitch Attitude Control of Biomimetic Robotic Fish. In: 2020 IEEE 9Th Data Driven Control and Learning Systems Conference (DDCLS), pp 1193-1197, IEEE, Liuzhou, China (2020)
Jeong, I.-B., Park, C.-S., Na, K.-I., Han, S., Kim, J.-H.: Particle Swarm Optimization-Based Central Patter Generator for Robotic Fish Locomotion. In: 2011 IEEE Congress of Evolutionary Computation (CEC), pp. 152-157, IEEE, New Orleans, LA, USA (2011)
Kennedy, J., Eberhart, R.: Particle swarm optimization. In: Proceedings of ICNN’95 - International Conference on Neural Networks, pp. 1942-1948, IEEE, Perth, WA, Australia (1995)
Wang, M., Li, X., Dong, H., Yang, S.: A PSO-Based CPG Model Parameter Optimization Method for Biomimetic Robotic Fish. In: 2017 Chinese Automation Congress (CAC), pp. 3445-3449. IEEE, Jinan (2017)
Wang, M., Dong, H., Li, X., Zhang, Y., Yu, J.: Control and optimization of a bionic robotic fish through a combination of CPG model and PSO. Neurocomputing 337, 144–152 (2019)
Yuan, J., Yu, J., Wu, Z., Tan, M.: Enhancing Swimming Performance of a Biomimetic Robotic Fish by Optimizing Oscillator Phase Differences of a CPG Model. In: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 279-284. IEEE, Zhuhai, China (2015)
Crespi, A., Ijspeert, A.J.: Online optimization of swimming and crawling in an amphibious snake robot. IEEE Trans. Robot. 24, 75–87 (2008)
Zhou, C., Low, K.H.: On-line optimization of biomimetic undulatory swimming by an experiment-based approach. J Bionic Eng. 11, 213–225 (2014)
Tong, R., Qiu, C., Wu, Z., Wang, J., Tan, M., Yu, J.: Na-CPG: A robust and stable rhythm generator for robot motion control. Biomimetic Intelligence and Robotics, 100075 (2022)
Liao, X., Fu, Y., Lu, B., Zou, Q., Zhang, Z., Zhou, C.: An elastic biomimetic fish tail and its undulation fitting method of body wave. In: Proc. IEEE International Conference on Mechatronics and Automation (ICMA). pp. 1219-1225. IEEE, Takamatsu, Japan (2021)
Chen, D., Wu, Z., Dong, H., Tan, M., Yu, J.: Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint. Bioinspir. Biomim. 16(2), 026007 (2020)
Ijspeert, A.J., Crespi, A., Ryczko, D., Cabelguen, J.M.: From swimming to walking with a salamander robot driven by a spinal cord model. Science. 315(5817), 1416–1420 (2007)
Lighthill, M.J.: Note on the swimming of slender fish. J Fluid Mech 9(2), 305–317 (1960)
Valdivia, Y., Alvarado, P., Youcef-Toumi, K.: Design of machines with compliant bodies for biomimetic locomotion in liquid environments. Trans ASME J Dyn Syst Meas Control 128(1), 3–13 (2006)
Zhao, W., Ming, A., Shimojo, M.: Development of high-performance soft robotic fish by numerical coupling analysis. Applied Bionics and Biomechanics, 2018 (2018)
Liu, J., Zhang, C., Liu, Z., Zhao, R., An, D., Wei, Y., Yu, J.: Design and analysis of a novel tendon-driven continuum robotic dolphin. Bioinspir. Biomim. 16(6), 065002 (2021)
Zhong, Y., Li, Z., Du, R.: The Design and Prototyping of a Wire-Driven Robot Fish with Pectoral Fins. In: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO). pp. 1918-1923. IEEE, Shenzhen, China (2013)
Funding
This work was supported by National Nature Science Foundation of China (Grant numbers: 62033013, 61903362, 62003341, 61973303).
Author information
Authors and Affiliations
Contributions
Chao Zhou designed this study. Xiaocun Liao implemented the algorithms and performed the testing experiments. All authors, including Xiaocun Liao, Chao Zhou, Jian Wang, Junfeng Fan and Zhuoliang Zhang, contributed to the writing of the manuscript, and approved the final manuscript.
Corresponding author
Ethics declarations
Competing interests
The authors have no relevant financial or non-financial interests to disclose.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Liao, X., Zhou, C., Wang, J. et al. A Wire-driven Elastic Robotic Fish and its Design and CPG-Based Control. J Intell Robot Syst 107, 4 (2023). https://doi.org/10.1007/s10846-022-01797-9
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10846-022-01797-9