文章基本信息

标题：Elastic Compliance Versus Joint Actuation in an Articulated Swimming Robot
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作者：Rodrigo Abrajan-Guerrero ; Scott David Kelly
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：13
页码：167-173
DOI：10.1016/j.ifacol.2018.07.273
语种：English
出版社：Elsevier
摘要：AbstractA planar swimming device comprising three rigid links with one actuated joint and one elastically compliant joint can achieve bi-directional translation as well as rotation solely through sinusoidal deformations of the actuated joint. In the context of an idealized model in which the surrounding fluid is assumed to be inviscid, the system’s locomotion may be understood in terms of geometric phases associated with limit cycles in joint-angle space. In comparison to a system with actuators at both joints executing the same swimming motion, a singly actuated compliant swimmer exhibits superior energy efficiency in laboratory experiments.
关键词：Keywordsrobotic locomotionbiomimeticsdifferential geometric methodsnonlinear systemsfluid mechanics