59毫克微型机器人实现二维轨迹闭环控制，速度超原版四倍
Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer
- 基于形状记忆合金的新型双层致动器，优化头部与尾部比例提升可控性
- 最高前进速度达13.6毫米/秒，闭环追踪时速仍达9.1毫米/秒，误差仅2.6毫米
- 适合微尺度水下机器人、生物启发驱动与精准轨迹控制研究者参考
我们提出一种经过演化的可转向单尾仿生59毫克游泳机器人——FRISSHBot，其由新型形状记忆合金（SMA）双层致动器驱动。该新平台可在二维空间中实现可控运动，首次在亚克级系统上实现了具有机载驱动的反馈控制轨迹跟踪。这一性能得益于物理信息引导的设计改进：增大头部并缩短尾部。优化后平台最高速度可达13.6毫米/秒（0.38 Bl/s），超过原始平台的四倍。在闭环追踪二维参考轨迹时，原型机最高速度达9.1毫米/秒，均方根（RMS）跟踪误差低至2.6毫米，最大转向速率13.1°/秒，最小转弯半径仅10毫米。
原文摘要 · Abstract (English)
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memory alloy (SMA)-based bimorph actuator. The new FRISSHBot is controllable in the two-dimensional (2D) space, which enabled the first demonstration of feedback-controlled trajectory tracking of a single-tail aquatic robot with onboard actuation at the subgram scale. These new capabilities are the result of a physics-informed design with an enlarged head and shortened tail relative to those of the original platform. Enhanced by its design, this new platform achieves forward swimming speeds of up to 13.6 mm/s (0.38 Bl/s), which is over four times that of the original platform. Furthermore, when following 2D references in closed loop, the tested FRISSHBot prototype attains forward swimming speeds of up to 9.1 mm/s, root-mean-square (RMS) tracking errors as low as 2.6 mm, turning rates of up to 13.1 °/s, and turning radii as small as 10 mm.
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