The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins

Yangbin Zeng; Qiao Hu; Shenglin Yin; Baocheng Tong; Tangjia Zhang

doi:10.1109/RCAR52367.2021.9517681

The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins

Yangbin Zeng
, Qiao Hu
, Shenglin Yin
, Baocheng Tong
, Tangjia Zhang

School of Mechanical Engineering

Xi'an Jiaotong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.

Original language	English
Title of host publication	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1385-1390
Number of pages	6
ISBN (Electronic)	9781665436786
DOIs	https://doi.org/10.1109/RCAR52367.2021.9517681
State	Published - 15 Jul 2021
Event	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021 - Xining, China Duration: 15 Jul 2021 → 19 Jul 2021

Publication series

Name	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

Conference

Conference	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Country/Territory	China
City	Xining
Period	15/07/21 → 19/07/21

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10.1109/RCAR52367.2021.9517681

Cite this

Zeng, Y., Hu, Q., Yin, S., Tong, B., & Zhang, T. (2021). The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins. In 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021 (pp. 1385-1390). (2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR52367.2021.9517681

Zeng, Yangbin ; Hu, Qiao ; Yin, Shenglin et al. / The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins. 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 1385-1390 (2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021).

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title = "The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins",

abstract = "At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.",

author = "Yangbin Zeng and Qiao Hu and Shenglin Yin and Baocheng Tong and Tangjia Zhang",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021 ; Conference date: 15-07-2021 Through 19-07-2021",

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doi = "10.1109/RCAR52367.2021.9517681",

language = "英语",

series = "2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1385--1390",

booktitle = "2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021",

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Zeng, Y, Hu, Q, Yin, S, Tong, B & Zhang, T 2021, The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins. in 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021. 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1385-1390, 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021, Xining, China, 15/07/21. https://doi.org/10.1109/RCAR52367.2021.9517681

The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins. / Zeng, Yangbin; Hu, Qiao; Yin, Shenglin et al.
2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1385-1390 (2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins

AU - Zeng, Yangbin

AU - Hu, Qiao

AU - Yin, Shenglin

AU - Tong, Baocheng

AU - Zhang, Tangjia

PY - 2021/7/15

Y1 - 2021/7/15

N2 - At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.

AB - At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.

UR - https://www.scopus.com/pages/publications/85115407518

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DO - 10.1109/RCAR52367.2021.9517681

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T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

SP - 1385

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BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

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ER -

Zeng Y, Hu Q, Yin S, Tong B, Zhang T. The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins. In 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 1385-1390. (2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021). doi: 10.1109/RCAR52367.2021.9517681

The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins

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