仿生可变形背びれが自由遊泳するマグロ型ロボットの遊泳性能に与える影響
How Biomimetic Morphing Dorsal Fin Affects the Swimming Performance of a Free-swimming Tuna Robot
磁気着脱式の仿生可変背びれを備えた3次元自律遊泳マグロ型ロボットを開発し、背びれの起立が速度・輸送コスト・ヨー角に与える影響を自由遊泳条件下で調べた。起立背びれはヨー安定性を向上させるが、速度と輸送コストへの影響は小さかった。
著者: Hongbing Huang, Zhonglu Lin, Wei Zheng, Jinhu Zhang, Wei Zhou, Yu Zhang
分類: cs.RO, physics.bio-ph
原文アブストラクト
It is well known that tuna fish in the ocean can dynamically morph their median fins to achieve optimal hydrodynamic performance, e.g. linear acceleration and maneuverability. In this study, based on the previous studies about the median fin's hydrodynamic effects focusing on tethered conditions, we continue to explore the hydrodynamic function of tuna morphing dorsal fin in free swimming conditions for better approaching real-life situations.Here, we developed a tuna-inspired robotic fish platform that can swim independently in three dimensions, equipped with a biomimetic morphing dorsal fin magnetically attached to the robotic fish. Based on the free-swimming robotic fish platform, we investigated how the erected dorsal fin affects the speed, cost of transport (COT), and robotic fish's yaw angle at different frequencies and amplitudes. The erected dorsal fin plays a positive role in improving the yaw stability of robotic fish. However, it shows little influence on the speed and COT in our test. This remains to be further investigated in the future.
