通过被动阻抗调控，让软体机器鱼加速快近5倍、速度提3倍。
Passive Phase-Oriented Impedance Shaping for Rapid Acceleration in Soft Robotic Swimmers
- 用约束层阻尼技术，主动调节柔性机器人的阻抗特性。
- 在无控制条件下，峰值加速度提升近5倍，终速提高3倍。
- 适合追求快速响应的软体机器人设计，无需复杂控制。
水下机器人快速加速和爆发性机动不依赖精确共振，而更依赖推力生成时的力-速度相位对齐。本文研究了约束层阻尼（CLD）作为软体机器鱼中频率选择性阻抗调控的被动机制。与传统刚度调节不同，CLD能选择性增强弯曲阻抗的耗散分量，同时保持储能刚度不变，随驱动频率升高，被动地使阻抗以耗散为主。通过干态阻抗测量表征该行为，在受限推进测试中验证了CLD可提升推力并改变力-运动相位关系，且在非约束游泳实验中实现了近5倍的峰值加速度和3倍的终端速度提升。结果表明，基于相位导向的被动阻抗调制是一种简单、无需控制的高效瞬时推进优化路径。
原文摘要 · Abstract (English)
Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a passive mechanism for frequency-selective impedance shaping in soft robotic swimmers. Unlike conventional stiffness-tuning approaches, CLD selectively amplifies the dissipative component of bending impedance while preserving storage stiffness, passively shifting the impedance composition toward dissipative dominance as actuation frequency increases. We characterize this behavior through dry impedance measurements, demonstrate that CLD enhances thrust and alters force--motion phase relationships across Strouhal numbers in constrained propulsion tests, and validate that passive impedance shaping yields a nearly five-fold increase in peak acceleration and a three-fold increase in terminal velocity in unconstrained swimming trials. These results establish phase-oriented passive impedance modulation as a simple, control-free pathway for improving transient propulsion in soft robotic systems.
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