Modeling and control of a sperm-inspired robot with helical propulsion.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Bioinspiration & Biomimetics Pub Date : 2025-01-31 DOI:10.1088/1748-3190/adaaba

Liangwei Deng, Chao Zhou, Zhuoliang Zhang, Xiaocun Liao, Junfeng Fan, Xiaofei Wang, Jiaming Zhang

{"title":"Modeling and control of a sperm-inspired robot with helical propulsion.","authors":"Liangwei Deng, Chao Zhou, Zhuoliang Zhang, Xiaocun Liao, Junfeng Fan, Xiaofei Wang, Jiaming Zhang","doi":"10.1088/1748-3190/adaaba","DOIUrl":null,"url":null,"abstract":"<p><p>Efficient propulsion has been a central focus of research in the field of biomimetic underwater vehicles. Compared to the prevalent fish-like reciprocating flapping propulsion mode, the sperm-like helical propulsion mode features higher efficiency and superior performance in high-viscosity environments. Based on the previously developed sperm-inspired robot, this paper focuses on its dynamic modeling and depth control research. The helical propulsion performance of the sperm-inspired robot is analyzed by resistance-theory-based force analysis, followed by the application of Kirchhoff rod theory to determine the helical waveform parameters. The dynamic model of the sperm-inspired robot is established using the Kirchhoff equation, and its validity is verified through experiments. To enhance the practical application capability of the sperm-inspired robot, this study develops an active disturbance rejection control depth controller for roll-spin coupling motion based on the constructed dynamics model. The effectiveness of the controller is thoroughly validated through a combination of simulation and experiment. Experimental results demonstrate the excellent depth control ability of the robot, with an average depth error controlled within 0.19 cm. This superior performance lays a foundation for the future application of our robot in underwater operations.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1000,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Bioinspiration & Biomimetics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1088/1748-3190/adaaba","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

Efficient propulsion has been a central focus of research in the field of biomimetic underwater vehicles. Compared to the prevalent fish-like reciprocating flapping propulsion mode, the sperm-like helical propulsion mode features higher efficiency and superior performance in high-viscosity environments. Based on the previously developed sperm-inspired robot, this paper focuses on its dynamic modeling and depth control research. The helical propulsion performance of the sperm-inspired robot is analyzed by resistance-theory-based force analysis, followed by the application of Kirchhoff rod theory to determine the helical waveform parameters. The dynamic model of the sperm-inspired robot is established using the Kirchhoff equation, and its validity is verified through experiments. To enhance the practical application capability of the sperm-inspired robot, this study develops an active disturbance rejection control depth controller for roll-spin coupling motion based on the constructed dynamics model. The effectiveness of the controller is thoroughly validated through a combination of simulation and experiment. Experimental results demonstrate the excellent depth control ability of the robot, with an average depth error controlled within 0.19 cm. This superior performance lays a foundation for the future application of our robot in underwater operations.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

基于精子的螺旋推进机器人的建模与控制。

高效推进一直是仿生水下航行器领域的研究热点。与流行的鱼状往复扑动推进方式相比，精子状螺旋推进方式具有更高的效率和在高粘度环境下的优越性能。本文在已有精子机器人的基础上，重点对其动力学建模和深度控制进行了研究。通过基于阻力理论的力分析，分析精子机器人的螺旋推进性能，然后应用Kirchhoff棒理论确定螺旋波形参数。利用Kirchhoff方程建立了精子机器人的动力学模型，并通过实验验证了其有效性。为了提高精子机器人的实际应用能力，本研究在构建的动力学模型的基础上，开发了一种用于滚旋耦合运动的自抗扰深度控制器（ADRC）。通过仿真与实验相结合，充分验证了该控制器的有效性。实验结果表明，该机器人具有良好的深度控制能力，平均深度误差控制在0.19 cm以内。这种优越的性能为我们的机器人未来在水下作业中的应用奠定了基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.