Chen, Gang and Xu, Yidong and Yang, Chenguang and Yang, Xin and Hu, Huosheng and Chai, Xinxue and Wang, Donghai (2023) Design and Control of a Novel Bionic Mantis Shrimp Robot. IEEE-ASME Transactions on Mechatronics, 28 (6). pp. 3376-3385. DOI https://doi.org/10.1109/tmech.2023.3266778
Chen, Gang and Xu, Yidong and Yang, Chenguang and Yang, Xin and Hu, Huosheng and Chai, Xinxue and Wang, Donghai (2023) Design and Control of a Novel Bionic Mantis Shrimp Robot. IEEE-ASME Transactions on Mechatronics, 28 (6). pp. 3376-3385. DOI https://doi.org/10.1109/tmech.2023.3266778
Chen, Gang and Xu, Yidong and Yang, Chenguang and Yang, Xin and Hu, Huosheng and Chai, Xinxue and Wang, Donghai (2023) Design and Control of a Novel Bionic Mantis Shrimp Robot. IEEE-ASME Transactions on Mechatronics, 28 (6). pp. 3376-3385. DOI https://doi.org/10.1109/tmech.2023.3266778
Abstract
This article presents the development of a novel bionic robot, which is inspired by agile and fast mantis shrimp in the ocean. The developed bionic mantis shrimp robot has ten rigid-flexible swimming feet (pleopods) for swimming propulsion and a rope-driven spine for its body bending. By studying the motion trajectory of biological mantis shrimp, the kinematic gait planning of the bionic pleopod is completed and the central pattern generator controller of the bionic mantis shrimp robot applicable to the coupled motion of multiple pleopods is proposed. The controller is experimentally verified to effectively simulate the swimming motion of mantis shrimp, which enables the robot to reach a maximum swimming velocity of 0.28 m/s (0.46 body length per second) and a minimum turning radius of 0.36 m.The influence of control parameters on the robot's swimming performance is then investigated. Experiments are conducted to show that the oscillation frequency of the bionic pleopod plays a major positive role in the robot's swimming speed. This article has demonstrated the effectiveness of the proposed mechanism design and motion control method for a bionic mantis shrimp robot and laid the foundation for the further exploration of bionic mantis shrimp robots in rugged seabed environments.
Item Type: | Article |
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Uncontrolled Keywords: | Bionic robot; central pattern generator (CPG) control; gait planning; mantis shrimp; rigid-flexible pleopod; rope-driven |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 04 May 2023 11:59 |
Last Modified: | 16 May 2024 21:49 |
URI: | http://repository.essex.ac.uk/id/eprint/35505 |
Available files
Filename: Design_and_Control_of_a_Novel_Bionic_Mantis_Shrimp_Robot.pdf