仿生鱼脊柱结构提升水下机器人机动性与能效
SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
- 采用可伸缩鱼肋与可调磁铁模拟鱼肌肉伸缩，实现刚柔过渡
- 通过进化算法优化流体动力学，显著提升游泳性能
- 适用于水下监测、探索与工业巡检，实测表现稳健
鱼类历经数百万年演化，其独特的刚柔结合身体结构为解决水下机器人存在的机动性差、能耗高和适应性弱等难题提供了灵感。本文提出SpineWave，一种具有类鱼脊柱刚柔过渡结构的仿生机器人鱼。该结构融合可扩展的鱼肋状肋骨与可调节磁铁，模仿鱼类肌肉的伸展与回弹，实现刚度与柔韧性的动态平衡。此外，我们采用进化算法优化机器人流体动力学，显著提升了游泳性能。实地测试表明，SpineWave具备良好鲁棒性，展现出在环境监测、水下探索及工业检测中的应用潜力。该研究确立了SpineWave作为水下机器人领域的重要创新平台。
原文摘要 · Abstract (English)
Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability. This paper introduces SpineWave, a biomimetic robotic fish featuring a fish-spine-like rigid-flexible transition structure. The structure integrates expandable fishbone-like ribs and adjustable magnets, mimicking the stretch and recoil of fish muscles to balance rigidity and flexibility. In addition, we employed an evolutionary algorithm to optimize the hydrodynamics of the robot, achieving significant improvements in swimming performance. Real-world tests demonstrated robustness and potential for environmental monitoring, underwater exploration, and industrial inspection. These tests established SpineWave as a transformative platform for aquatic robotics.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。