Hover kinematics and distributed pressure sensing for force control of biorobotic fins

Jeff C. Kahn, B. Flammang, J. Tangorra
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引用次数: 7

Abstract

A comprehensive understanding of the ways in which fish create and control forces is fundamental to engineering underwater vehicles that maneuver with the agility of fish. In this study the sunfish was selected as a biological model from which to understand pectoral fin motions and forces during hover. The kinematic patterns of the biological fin were identified and implemented on a biorobotic model of the fin. The effects of fin patterns and mechanical properties on force were evaluated. Pressure was measured at multiple points on the fin's surface and assessed for use in the closed loop control of fin force. The study revealed that a wide range of motions are used during hover, and that forces are significantly different from those found previously for steady swimming. However as fin speeds increase, the fin's dynamic motions, and the magnitude and direction of the forces become more similar to those of steady swimming. Collective measures of pressure over the fin's surface exhibited trends that correlated well with fin forces in relative magnitudes and directions. Results strongly suggest that distributed measures of pressure are useful for force prediction and control.
悬停运动学与分布式压力传感在仿生鳍力控制中的应用
全面了解鱼类创造和控制力量的方式是工程水下航行器与鱼类敏捷性机动的基础。在这项研究中,太阳鱼被选为生物学模型,从中了解胸鳍运动和力量在悬停。识别了生物鳍的运动模式,并在仿生模型上实现,评估了鳍的运动模式和力学性能对力的影响。在鳍表面多点测量压力,并评估用于鳍力的闭环控制。研究表明,在悬停过程中使用了各种各样的运动,并且与之前在稳定游泳中发现的力量有很大不同。然而,随着鳍速度的增加,鳍的动态运动,以及力的大小和方向变得更类似于稳定游泳。对鱼鳍表面压力的集体测量显示出与相对大小和方向上的鱼鳍力相关的趋势。结果强烈表明,压力的分布测量对力的预测和控制是有用的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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