Proceedings of

Proceedings of The
The 2021 IEEE International
2021 IEEE International
 Conference
Conference on Real-time Computing
on Real-time Computing and Robotics
and Robotics 
July 15-19, 2021,
July 15-19, 2021, Xining, China
Xining, China

The Ground Motion Dynamics Analysis of a Bionic Amphibious

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Robot with Undulatory Fins
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Yangbin Zeng, Qiao Hu*, Shenglin Yin, Baocheng Tong, Tangjia Zhang
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Abstract-At present, bionic undulatory fin robots, as a kind Research Office designed a new four-finned UUV inspired by
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of novel robot, are seldom
RI QRYHO URERW DUH studied RQ
VHOGRP VWXGLHG on the ground PRWLRQ
WKH JURXQG motion RIof the Gymnarchus niloticus
WKH *\PQDUFKXV [8]. 6XEVHTXHQWO\
QLORWLFXV >@ Subsequently, LQ in 2012,
 the
WKH
undulatory ILQV
XQGXODWRU\ fins. 7KLV
This SDSHU
paper LPLWDWHV
imitates the undulatory ILQ
WKH XQGXODWRU\ fin RI
of the
WKH second JHQHUDWLRQ
VHFRQG generation RIof D
a IRXUILQQHG
four-finned UUV 889 prototype
SURWRW\SH was
ZDV
Gymnarchus niloticus and discusses the kinematics and dynamics
*\PQDUFKXVQLORWLFXVDQGGLVFXVVHVWKHNLQHPDWLFVDQGG\QDPLFV designed, which
GHVLJQHG ZKLFK was controlled by
ZDV FRQWUROOHG E\ Da VLQJOH
single FKLS
chip
microcomputer (SCM), loaded with a 9-axis acceleration
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR) | 978-1-6654-3678-6/21/$31.00 ©2021 IEEE | DOI: 10.1109/RCAR52367.2021.9517681

of the undulatory fin of the amphibious robot under the ground

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motion. The ruled surface model in differential geometry is used
PRWLRQ7KHUXOHGVXUIDFHPRGHOLQGLIIHUHQWLDOJHRPHWU\LVXVHG sensor, and realized the control of fixed-depth swimming by
VHQVRUDQGUHDOL]HGWKHFRQWURORIIL[HGGHSWKVZLPPLQJE\
to model the
WR PRGHO kinematics RI
WKH NLQHPDWLFV of the undulatory ILQ
WKH XQGXODWRU\ fin, DQG
and then
WKHQ the
WKH using
XVLQJ PID feedback >@
3,' IHHGEDFN [9]. ,Q  FESTa
In 2018, imitated the
)(672 LPLWDWHG WKH
ground propulsion and speed of the undulatory fin are
JURXQGSURSXOVLRQDQGVSHHGRIWKHXQGXODWRU\ILQDUHDQDO\]HG analyzed undulatory fin VWUXFWXUH of 6HD
structure RI Sea Flatworm and released a
XQGXODWRU\ ILQ )ODWZRUP DQG UHOHDVHG D
based RQ
EDVHG on the
WKH wheel dynamics theory.
ZKHHO G\QDPLFV This SDSHU
WKHRU\ 7KLV paper GLVFXVVHV
discusses the
WKH robotic fish BionicFinwave, whose movement was controlled
URERWLFILVK%LRQLF)LQZDYHZKRVHPRYHPHQWZDVFRQWUROOHG
influence of the motion SDUDPHWHUV
parameters RI
of the undulatory ILQ
fin RQ
on LWV
its by
LQIOXHQFHRIWKHPRWLRQ
propulsion performance and verifies
WKH XQGXODWRU\
the correctness of the
E\ the
WKH undulatory fins. 7KH
XQGXODWRU\ ILQV The research
UHVHDUFK ILHOG of &KLQD
V
field RI China's bionic
ELRQLF
SURSXOVLRQ SHUIRUPDQFH DQG YHULILHV WKH FRUUHFWQHVV RI WKH undulatory
XQGXODWRU\ ILQ URERW VWDUWHG UHODWLYHO\ ODWH but
fin robot started relatively late, EXW many
PDQ\
undulatory ILQ
fin VWUXFWXUH
structure DQG
and theoretical
WKHRUHWLFDO through experiments,
XQGXODWRU\ WKURXJK H[SHULPHQWV prototypes have been successfully developed. At present, the
SURWRW\SHVKDYHEHHQVXFFHVVIXOO\GHYHORSHG$WSUHVHQWWKH
and provides a reference for the development of the propulsion
DQGSURYLGHVDUHIHUHQFHIRUWKHGHYHORSPHQWRIWKHSURSXOVLRQ related research institutes in China mainly include the National
UHODWHGUHVHDUFKLQVWLWXWHVLQ&KLQDPDLQO\LQFOXGHWKH1DWLRQDO
mechanism of the bionic amphibious with undulatory fins robot
PHFKDQLVPRIWKHELRQLFDPSKLELRXVZLWKXQGXODWRU\ILQVURERW
in the future.
University
8QLYHUVLW\ RI of Defense Technology, Harbin
'HIHQVH 7HFKQRORJ\ Institute RI
+DUELQ ,QVWLWXWH of
LQWKHIXWXUH Technology, University of Science and Technology of China,
7HFKQRORJ\8QLYHUVLW\RI6FLHQFHDQG7HFKQRORJ\RI&KLQD
I.
, INTRODUCTION
,1752'8&7,21 Institute of Automation of Chinese Academy of Sciences, and
,QVWLWXWHRI$XWRPDWLRQRI&KLQHVH$FDGHP\RI6FLHQFHVDQG
Nanjing University of Aeronautics and Astronautics et al. In
1DQMLQJ8QLYHUVLW\RI$HURQDXWLFVDQG$VWURQDXWLFVHWDO,Q
After
$IWHU millions of years
PLOOLRQV RI \HDUV of
RI evolution, animals provide
HYROXWLRQ DQLPDOV SURYLGH 2018,
 Pliant
3OLDQW Energy Systems RI
(QHUJ\ 6\VWHPV of the
WKH US designed D
86 GHVLJQHG a new
QHZ
important references for the design and research ofrobots, and
LPSRUWDQWUHIHUHQFHVIRUWKHGHVLJQDQGUHVHDUFKRIURERWVDQG amphibious robot Velox, which mimicked the long
DPSKLELRXVURERW9HOR[ZKLFKPLPLFNHGWKHORQJIOH[LEOHILQ flexible fin
then
WKHQ bionics
ELRQLFV was
ZDV born.
ERUQ As a new
$V D discipline with
QHZ GLVFLSOLQH ZLWK biology,
ELRORJ\ of Gymnarchus niloticus. It can achieve multiple
RI *\PQDUFKXV QLORWLFXV ,W FDQ DFKLHYH PXOWLSOH PRWLRQ motion
materials, control, machinery,
PDWHULDOV FRQWURO PDFKLQHU\ DQGand RWKHU
other multidisciplinary
PXOWLGLVFLSOLQDU\ modes in both water and land environments by using only a
PRGHVLQERWKZDWHUDQGODQGHQYLURQPHQWVE\XVLQJRQO\D
integration, bionics
LQWHJUDWLRQ is DQ
ELRQLFV LV an LPSRUWDQW
important branch of the
EUDQFK RI WKH robotics
URERWLFV pair of undulatory fins. It turns out that the undulatory fin is a
SDLURIXQGXODWRU\ILQV,WWXUQVRXWWKDWWKHXQGXODWRU\ILQLVD
field. From perspectives of animal shape,
ILHOG )URP SHUVSHFWLYHV RI DQLPDO VKDSH VWUXFWXUH structure,
novel
QRYHO bionic amphibious propulsion
ELRQLF DPSKLELRXV SURSXOVLRQ mechanism,
PHFKDQLVP which can
ZKLFK FDQ
characteristics, and
FKDUDFWHULVWLFV DQG functions,
IXQFWLRQV the
WKH traditional
WUDGLWLRQDO propulsion
SURSXOVLRQ achieve not only underwater propulsion but also
DFKLHYH QRW RQO\ XQGHUZDWHU SURSXOVLRQ EXW DOVR JURXQG ground
methods are improved and innovated, making some traditional
PHWKRGVDUHLPSURYHGDQGLQQRYDWHGPDNLQJVRPHWUDGLWLRQDO propulsion. The research
SURSXOVLRQ 7KH on LWV
UHVHDUFK RQ its ground
JURXQG propulsion
SURSXOVLRQ hasKDV
robots
URERWV were optimized LQ
ZHUH RSWLPL]HG in terms of VWDELOLW\
WHUPV RI stability, LPPXQLW\
immunity, DQGand
practical significance and application value.
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mobility, and entered the practical stage [1 ]-[3]. However,
PRELOLW\DQGHQWHUHGWKHSUDFWLFDOVWDJH>@>@+RZHYHULQ in
the complex amphibian environment, researchers
WKHFRPSOH[DPSKLELDQHQYLURQPHQWUHVHDUFKHUVDUHLQVSLUHGare inspired
by
E\ natural creatures HJ
QDWXUDO FUHDWXUHV (e.g., FUDEV
crabs, turtles,
WXUWOHV frogs,
IURJV mudskippers,
PXGVNLSSHUV
newt)
QHZW to design DPSKLELRXV
WR GHVLJQ amphibious robots
URERWV based on their
EDVHG RQ shape,
WKHLU VKDSH
structure, FKDUDFWHULVWLFV
VWUXFWXUH characteristics, DQGand IXQFWLRQV
functions. 7KHThe practical
SUDFWLFDO
significance and social application value of bio-robot may far
VLJQLILFDQFHDQGVRFLDODSSOLFDWLRQYDOXHRIELRURERWPD\IDU
beyond those of conventional robots [4]-[5].
EH\RQGWKRVHRIFRQYHQWLRQDOURERWV>@>@
7KH Gymnarchus QLORWLFXV
The *\PQDUFKXV niloticus LQin nature adopt MPF
QDWXUH DGRSW 03)
propulsion mode with a long dorsal undulatory fin,
SURSXOVLRQPRGHZLWKDORQJGRUVDOXQGXODWRU\ILQZKLFKFDQ which can 
swim and retreat quickly in the water. In 2005, The black ghost
VZLPDQGUHWUHDWTXLFNO\LQWKHZDWHU,Q7KHEODFNJKRVW Figure 1. The amphibious robot with undulatory fins
)LJXUH 7KHDPSKLELRXVURERWZLWKXQGXODWRU\ILQV
knifefish as the bionic object, Northwestern University in the
NQLIHILVKDVWKHELRQLFREMHFW1RUWKZHVWHUQ8QLYHUVLW\LQWKH
US designed the
86 GHVLJQHG first generation
WKH ILUVW of ORQJ
JHQHUDWLRQ RI long undulatory fin
XQGXODWRU\ ILQ In this
,Q WKLV paper,
SDSHU the
WKH research on the
UHVHDUFK RQ WKH ground
JURXQG motion of
PRWLRQ RI
prototype. The undulatory fin of the prototype was
SURWRW\SH7KHXQGXODWRU\ILQRIWKHSURWRW\SHZDVGULYHQE\ driven by undulatory fins emphasizes two innovations: 1. Based on the
XQGXODWRU\ILQVHPSKDVL]HVWZRLQQRYDWLRQV%DVHGRQWKH
steering gears, and the total length of the fin was about
VWHHULQJJHDUVDQGWKHWRWDOOHQJWKRIWKHILQZDVDERXWWKUHH three existing prototype (Fig. 1), this paper takes the fin structure of
H[LVWLQJSURWRW\SH)LJWKLVSDSHUWDNHVWKHILQVWUXFWXUHRI
times
WLPHV the
WKH wavelength.
ZDYHOHQJWK 7KH The prototype cannot VZLP
SURWRW\SH FDQQRW swim the Gymnarchus niloticus as a bionic obj ect and uses the ruled
WKH*\PQDUFKXVQLORWLFXVDVDELRQLFREMHFWDQGXVHVWKHUXOHG
autonomously in water [6]. In 2006, Northwestern University
DXWRQRPRXVO\LQZDWHU>@,Q1RUWKZHVWHUQ8QLYHUVLW\ surface model in differential geometry to model the kinematics
VXUIDFHPRGHOLQGLIIHUHQWLDOJHRPHWU\WRPRGHOWKHNLQHPDWLFV
optimized the
RSWLPL]HG first-generation prototype
WKH ILUVWJHQHUDWLRQ and GHVLJQHG
SURWRW\SH DQG designed theWKH ofthe undulatory fin. 2. Based on the kinematics model and the
RIWKHXQGXODWRU\ILQ%DVHGRQWKHNLQHPDWLFVPRGHODQGWKH
second-generation prototype, consisting of eight rigid fin and
VHFRQGJHQHUDWLRQSURWRW\SHFRQVLVWLQJRIHLJKWULJLGILQDQG wheel dynamics research, the dynamics of the undulatory fin
ZKHHOG\QDPLFVUHVHDUFKWKHG\QDPLFVRIWKHXQGXODWRU\ILQ
flexible ILQ
IOH[LEOH fin VXUIDFHV
surfaces. 7KH
The prototype
SURWRW\SH was
ZDV used
XVHG to conduct DQ
WR FRQGXFW an RQ WKH ground
on the are GLVFXVVHG
JURXQG DUH discussed. Finally,
)LQDOO\ the
WKH research
UHVHDUFK IRFXV is
focus LV
experimental test on the relationship between thrust force and
H[SHULPHQWDOWHVWRQWKHUHODWLRQVKLSEHWZHHQWKUXVWIRUFHDQG verified through experiments.
YHULILHGWKURXJKH[SHULPHQWV
the motion parameters such as the amplitude, frequency, and
WKHPRWLRQSDUDPHWHUVVXFKDVWKHDPSOLWXGHIUHTXHQF\DQG
wavelength of the undulatory fin [7]. In 2011, the US Naval II.
ZDYHOHQJWKRIWKHXQGXODWRU\ILQ>@,QWKH861DYDO ,, KINEMATICS
.,1(0$7,&6ANALYSIS OF UNDULATORY
$1$/<6,62) 81'8/$725<FIN
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*Resrach supported
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$ Morphological Analysis of Undulatory Fin
0RUSKRORJLFDO$QDO\VLVRI8QGXODWRU\)LQ
(No.61402070304).
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The authors are with the school of mechanical engineering, Xi'anjiaotong
7KHDXWKRUVDUHZLWKWKHVFKRRORIPHFKDQLFDOHQJLQHHULQJ;L¶DQMLDRWRQJ Before the kinematics analysis RI
%HIRUH WKH NLQHPDWLFV DQDO\VLV of the
WKH undulatory fin, LW¶V
XQGXODWRU\ ILQ it's
University,
8QLYHUVLW\ Xi'an 710049, China.
;L¶DQ  &KLQD Phone:
3KRQH +86-029-8896-8266;
 e-mails:
HPDLOV necessary to study the morphology of the bionic prototype.
QHFHVVDU\WRVWXG\WKHPRUSKRORJ\RIWKHELRQLFSURWRW\SH,Q In
corresponding author: hqxjtu@xjtu.edu.cn; zyb 168@stu.xjtu.edu.cn.
FRUUHVSRQGLQJDXWKRUKT[MWX#[MWXHGXFQ]\E#VWX[MWXHGXFQ

978-1-6654-3678-6/21/$31.00 ©
978-1-6654-3678-6/21/$31.00 © 2021 IEEE
2021 IEEE 1385
1385

Authorized licensed use limited to: ASU Library. Downloaded on August 25,2022 at 19:20:40 UTC from IEEE Xplore. Restrictions apply.
 

Fig.2, *\PQDUFKXV
)LJ Gymnarchus QLORWLFXV
niloticus LV
is D
a IUHVKZDWHU
freshwater ILVK
fish ZLWK
with 03)
MPF parameters VXFK
SDUDPHWHUV such DV
as ZDYH
wave IUHTXHQF\
frequency, ZDYHOHQJWK
wavelength, DQG
and ZDYH
wave
propulsion PRGH
SURSXOVLRQ mode, ZLWKRXW
without YHQWUDO
ventral ILQ
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and FDXGDO
caudal ILQ
fin. ,WV
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DPSOLWXGH to OD\
lay WKH
the IRXQGDWLRQ
foundation IRU
for WKH
the VXEVHTXHQW
subsequent G\QDPLF
dynamic
protrudes like a rod, and its back has a long GRUVDO
SURWUXGHVOLNHDURGDQGLWVEDFNKDVDORQJ dorsal ILQ
fin. 7KH
The analysis and simulation.
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movement RI
PRYHPHQW of WKH
the ZKROH
whole ERG\
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mainly GHSHQGV
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the ORQJ
long
By the morphological study, the undulatory fin propulsion
%\WKHPRUSKRORJLFDOVWXG\WKHXQGXODWRU\ILQSURSXOVLRQ
dorsal fin to move underwater.
GRUVDOILQWRPRYHXQGHUZDWHU
of Gymnarchus niloticus has the following characteristics, as
RI*\PQDUFKXVQLORWLFXVKDVWKHIROORZLQJFKDUDFWHULVWLFVDV
shown in Fig.3.
VKRZQLQ)LJ
•• Periodic fluctuations: The fin rays swing periodically,
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adjacent fin rays swing with a certain phase difference,
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and the bottom edge of the undulatory fin fluctuates
DQGWKHERWWRPHGJHRIWKHXQGXODWRU\ILQIOXFWXDWHV
like a sine wave.
OLNHDVLQHZDYH
•• Unimodal amplitude: The amplitude change from the
8QLPRGDODPSOLWXGH7KHDPSOLWXGHFKDQJHIURPWKH
front WR
IURQW to WKH
the EDFN of WKH
back RI the ILQ
fin FRQIRUPV
conforms WR
to WKH
the ODZ
law RI
of
 unimodal FKDQJH
XQLPRGDO change, DQG
and UHDFKHV
reaches WKH
the PD[LPXP
maximum LQ in WKH
the
Figure 2. *\PQDUFKXVQLORWLFXV
)LJXUH Gymnarchus niloticus middle.
PLGGOH
•• Direction XQFHUWDLQW\
'LUHFWLRQ uncertainty: 7KH
The ZDYH
wave GLUHFWLRQ
direction RI
of WKH
the ILQ
fin
The research on the propulsion method, control strategy,
7KHUHVHDUFKRQWKHSURSXOVLRQPHWKRGFRQWUROVWUDWHJ\
can be from the head to the tailor from the tail to the
FDQEHIURPWKHKHDGWRWKHWDLORUIURPWKHWDLOWRWKH
and sensory information of the Gymnarchus niloticus has also
DQGVHQVRU\LQIRUPDWLRQRIWKH*\PQDUFKXVQLORWLFXVKDVDOVR
head, which can achieve the forward and backward.
KHDGZKLFKFDQDFKLHYHWKHIRUZDUGDQGEDFNZDUG
lasted IRU
ODVWHG for GHFDGHV
decades >@
[10], HVSHFLDOO\
especially WKH
the SDUWLFXODULW\ of LWV
particularity RI its
propulsion method, which is different from common fish (such
SURSXOVLRQPHWKRGZKLFKLVGLIIHUHQWIURPFRPPRQILVKVXFK First of all, since the thickness ofthe undulatory fin is much
)LUVWRIDOOVLQFHWKHWKLFNQHVVRIWKHXQGXODWRU\ILQLVPXFK
as koi) with pectoral fins. The Gymnarchus niloticus relies on
DVNRLZLWKSHFWRUDOILQV7KH*\PQDUFKXVQLORWLFXVUHOLHVRQ smaller than the geometric dimensions in the baseline direction
VPDOOHUWKDQWKHJHRPHWULFGLPHQVLRQVLQWKHEDVHOLQHGLUHFWLRQ
the XQGXODWLRQ
WKH undulation RI of WKH
the ORQJ
long GRUVDO
dorsal ILQ
fin UD\V
rays, DQG
and IRUPV
forms WKH
the and WKH
DQG the ILQ
fin UD\
ray GLUHFWLRQ
direction, WKH
the WKLFNQHVV of WKH
thickness RI the ILQ
fin FDQ
can EH
be
undulation RI
XQGXODWLRQ of WKH
the IOH[LEOH
flexible ILOP
film E\
by FRQWUROOLQJ
controlling FRRUGLQDWLRQ
coordination ignored. The fin is simplified to a three-dimensional surface
LJQRUHG7KHILQLVVLPSOLILHGWRDWKUHHGLPHQVLRQDOVXUIDFH
between WKH
EHWZHHQ the ILQ
fin VZLQJ
swing, WKHUHE\
thereby LQWHUDFWLQJ
interacting ZLWK
with WKH
the ZDWHU
water WR
to with negligible thickness, which satisfies four assumptions, as
ZLWKQHJOLJLEOHWKLFNQHVVZKLFKVDWLVILHVIRXUDVVXPSWLRQVDV
generate IRUZDUG
JHQHUDWH forward RU or WXUQLQJ
turning SRZHU
power. 7KH The VKDSH of WKH
shape RI the shown in Fig.4.
VKRZQLQ)LJ
undulatory fin is similar to a sine wave, and the body is linear
XQGXODWRU\ILQLVVLPLODUWRDVLQHZDYHDQGWKHERG\LVOLQHDU
and VHPLULJLG
DQG semi-rigid ZKHQ
when *\PQDUFKXV
Gymnarchus QLORWLFXV
niloticus VZLPV
swims. 7KXV
Thus, •• Assuming WKDW
$VVXPLQJ that WKH
the ILQ
fin EDVHOLQH
baseline LV
is VWUDLJKW
straight DQG
and WKH
the
compared with the body GHIRUPDWLRQ
FRPSDUHGZLWKWKHERG\ deformation, WKHthe ILQ
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deformation LV is length has no change during the movement.
OHQJWKKDVQRFKDQJHGXULQJWKHPRYHPHQW
larger.
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$VVXPLQJ that WKH
the ZLGWK of WKH
width RI the ILQ
fin KDV
has QR
no FKDQJH
change
The XQGXODWRU\
7KH undulatory ILQ
fin RI
of 6SHFLHV
Species ZLWK
with ZDYH
wave JDLW
gait, LQFOXGLQJ
including during the movement.
GXULQJWKHPRYHPHQW
Gymnarchus QLORWLFXV
*\PQDUFKXV niloticus, HHOV
eels, QHHGOHILVK
needlefish, HWF is FRPSRVHG
etc., LV composed RI of •• Assuming WKDW
$VVXPLQJ that WKH
the ILQ
fin LV
is FRPSRVHG
composed RIof QXPHURXV
numerous
fin rays and a flexible film, which can be approximated by a
ILQUD\VDQGDIOH[LEOHILOPZKLFKFDQEHDSSUR[LPDWHGE\D closely arrangedfin rays, the spatial parameters of any
FORVHO\DUUDQJHGILQUD\VWKHVSDWLDOSDUDPHWHUVRIDQ\
small thickness membrane with a sine wave. According to the
VPDOOWKLFNQHVVPHPEUDQHZLWKDVLQHZDYH$FFRUGLQJWRWKH point on the fin are uniquely determined by the state of
SRLQWRQWKHILQDUHXQLTXHO\GHWHUPLQHGE\WKHVWDWHRI
motion VSHHG
PRWLRQ speed, WKH
the IOH[LEOH
flexible ILOP
film XQGXODWHV
undulates IURP
from RQH
one WKLUG
third WR
to the fin rays passing through that point.
WKHILQUD\VSDVVLQJWKURXJKWKDWSRLQW
almost the entire length of the fin, usually with one or more
DOPRVWWKHHQWLUHOHQJWKRIWKHILQXVXDOO\ZLWKRQHRUPRUH
complete waves (Fig.3). The wave equation of the undulatory
FRPSOHWHZDYHV)LJ7KHZDYHHTXDWLRQRIWKHXQGXODWRU\ •• Assuming that the lengths of the fin rays are equal, it
$VVXPLQJWKDWWKHOHQJWKVRIWKHILQUD\VDUHHTXDOLW
fin is [11] -[12] :
ILQLV>@>@ can EH
FDQ be FRQVLGHUHG
considered WKDW
that WKH
the ZDYH
wave DPSOLWXGH
amplitude
transmission of the undulatory fin is consistent.
WUDQVPLVVLRQRIWKHXQGXODWRU\ILQLVFRQVLVWHQW
D  V −
\y == $H
Aea(s-l) VLQ sin Nk(s
 V −- YW
vt) (1)
(1)
When the fin rays swing periodically near the equilibrium
:KHQWKHILQUD\VVZLQJSHULRGLFDOO\QHDUWKHHTXLOLEULXP
Where $
:KHUH represents WKH
A UHSUHVHQWV the ZDYH
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speed SRVLWLRQ considering WKH
the UHODWLRQVKLS
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parameter, representing the increased speed of the amplitude
SDUDPHWHUUHSUHVHQWLQJWKHLQFUHDVHGVSHHGRIWKHDPSOLWXGH rays, the fin swing angle is taken as the characteristic
UD\VWKHILQVZLQJDQJOHLVWDNHQDVWKHFKDUDFWHULVWLFTXDQWLW\ quantity,
from the fin wave direction; Nk GHILQHVKRZPDQ\ZDYHVH[LVW
IURPWKHILQZDYHGLUHFWLRQ which can be described as follows:
defines how many waves exist, ZKLFKFDQEHGHVFULEHGDVIROORZV
= π  λA; Yv UHSUHVHQWVWKHILQZDYHYHORFLW\
Nk=2Jr/ represents the fin wave velocity.  θB(I
O ,t)=g(/)· YW  
W  = J O ⋅ fI (IO ++vt) (2)
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Figure 3. 7KHVWUXFWXUHRIDQXQGXODWRU\ILQ
)LJXUH The structure of an undulatory fin

B. .LQHPDWLFV0RGHOLQJRI8QGXODWRU\)LQ
% Kinematics Modeling of Undulatory Fin
Based on the morphological analysis of the undulatory fin,
%DVHGRQWKHPRUSKRORJLFDODQDO\VLVRIWKHXQGXODWRU\ILQ
the propulsion mechanism of the Gymnarchus niloticus relies
WKHSURSXOVLRQPHFKDQLVPRIWKH*\PQDUFKXVQLORWLFXVUHOLHV
on the interaction of sine wave-like undulatory fin with water
RQWKHLQWHUDFWLRQRIVLQHZDYHOLNHXQGXODWRU\ILQZLWKZDWHU
to JHQHUDWH
WR generate SRZHU
power. ,Q
In WKLV
this SDSHU
paper, WKH
the UXOHG
ruled VXUIDFH
surface PRGHO
model LQ
in 
differential geometry is used to establish the kinematics model
GLIIHUHQWLDOJHRPHWU\LVXVHGWRHVWDEOLVKWKHNLQHPDWLFVPRGHO
of the undulatory fin, and analyze the influence of adjustable
RIWKHXQGXODWRU\ILQDQGDQDO\]HWKHLQIOXHQFHRIDGMXVWDEOH Figure 4. 5XOHGVXUIDFHPRGHORIXQGXODWRU\ILQ
)LJXUH Ruled surface model of undulatory fin

1386
1386

Authorized licensed use limited to: ASU Library. Downloaded on August 25,2022 at 19:20:40 UTC from IEEE Xplore. Restrictions apply.
 

Based on the
%DVHG RQ above DVVXPSWLRQV
WKH DERYH assumptions DQG
and the
WKH waveform of
ZDYHIRUP RI px(r,l,t)
S[  U O W  , py(r,l,t)
S \  U O W  , pz(r,l,t)
S ]  U  O  W  respectively
UHVSHFWLYHO\ represent
UHSUHVHQW the
WKH
Gymnarchus niloticus's undulatory fin, the sine wave is used
*\PQDUFKXVQLORWLFXV¶VXQGXODWRU\ILQWKHVLQHZDYHLVXVHG
x,y,z coordinates RI
[ \  ] FRRUGLQDWHV of DQ\any pointSRLQW RQ on the fin VXUIDFH
WKH ILQ surface; R 5
to simulate the
WR VLPXODWH WKH undulation of the
XQGXODWLRQ RI WKH fin. The waveform
ILQ 7KH is
ZDYHIRUP LV
described as follows [13]:
GHVFULEHGDVIROORZV>@ represents the width of the fin, L/ represents
UHSUHVHQWVWKHZLGWKRIWKHILQ the length of the
UHSUHVHQWVWKHOHQJWKRIWKH
fin, OI LV
ILQ is the
WKH position
SRVLWLRQ RI of the fin rays,
WKH ILQ and rU UHSUHVHQWV
UD\V DQG represents the
WKH
 θB(l,
O  Wt) = θBm
P (I)· δ NO + 2;rr
sin(Jkl
O  ⋅ VLQ π ftIW + φ¢)  (3) distance between the point on the fin and the top of the fin. In
GLVWDQFHEHWZHHQWKHSRLQWRQWKHILQDQGWKHWRSRIWKHILQ,Q
actual DSSOLFDWLRQ
DFWXDO application, DFFRUGLQJ according to WR the
WKH performance of the
SHUIRUPDQFH RI WKH
δJ GHILQHV
defines DV
as the
WKH wave
ZDYH GLUHFWLRQ coefficient, δJ =±
direction FRHIILFLHQW ±1 
. 7KH
The steering gears and the structure ofthe undulatory fin prototype,
VWHHULQJJHDUVDQGWKHVWUXFWXUHRIWKHXQGXODWRU\ILQSURWRW\SH
value affects the direction of wave propagation; φ¢ represents
YDOXHDIIHFWVWKHGLUHFWLRQRIZDYHSURSDJDWLRQ UHSUHVHQWV taking
WDNLQJ
the initial phase angle.
WKHLQLWLDOSKDVHDQJOH L=0.5m,
/ = P  B=O.lm, % = P  θBm(l)
$
=  ,A=0.25m,
λ = P  f=2Hz,
P O  =30° I =  +] 
According to the description of the ruled surface equation,
$FFRUGLQJWRWKHGHVFULSWLRQRIWKHUXOHGVXUIDFHHTXDWLRQ − , φ¢ = 0, the
δJ = -1 simulation GLDJUDP
WKH VLPXODWLRQ diagram FRUUHVSRQGLQJ
corresponding to
WR the
WKH
taking the fin baseline as the direct-line and the fin rays as the
WDNLQJWKHILQEDVHOLQHDVWKHGLUHFWOLQHDQGWKHILQUD\VDVWKH parameters can be obtained, as shown in Fig.5.
SDUDPHWHUVFDQEHREWDLQHGDVVKRZQLQ)LJ
busbar, the wave description equation of the ruled surface of
EXVEDUWKHZDYHGHVFULSWLRQHTXDWLRQRIWKHUXOHGVXUIDFHRI
the undulatory fin [14]:
WKHXQGXODWRU\ILQ>@ III.  DYNAMIC
,,, '<1$0,&ANALYSIS
$1$/<6,62) 81'8/$725<FIN
OF UNDULATORY ),1
rU rU rU
 per, V  Wt) == Eb(s,
S  U  s,  ⋅. G
 V  Wt) + rUo d(s)·  V  Wt) 
 V  ⋅ Fc(s, (4)
(4)
A. Propulsion Mechanism Analysis
$3URSXOVLRQ0HFKDQLVP$QDO\VLV
rU
Eb (sV ,t)
W  represents
UHSUHVHQWV the WKH undulatory fin baseline,
XQGXODWRU\ ILQ describing
EDVHOLQH GHVFULELQJ Based on the
%DVHG RQ WKH research of wheel
UHVHDUFK RI dynamics, the
ZKHHO G\QDPLFV WKH motion
PRWLRQ
mechanism
PHFKDQLVP RI of the
WKH bionic amphibious robot
ELRQLF DPSKLELRXV URERW with
ZLWK undulatory
XQGXODWRU\
the track of the change of the tip of the fin ray along the fin
WKHWUDFNRIWKHFKDQJHRIWKHWLSRIWKHILQUD\DORQJWKHILQ
U fins on the ground is analyzed. The motion of the undulatory
ILQVRQWKHJURXQGLVDQDO\]HG7KHPRWLRQRIWKHXQGXODWRU\
direction; F~(s,t) V W  UHSUHVHQWVWKHZDYHIRUP
GLUHFWLRQ represents the waveform FKDQJH
change, GHVFULELQJ
describing
fin is similar to that of wheels. By the periodic oscillation of
ILQLVVLPLODUWRWKDWRIZKHHOV%\WKHSHULRGLFRVFLOODWLRQRI
the changing of the fin ray periodically swinging along the top
WKHFKDQJLQJRIWKHILQUD\SHULRGLFDOO\VZLQJLQJDORQJWKHWRS the fin rays, the fin surface will generate an interaction force
WKHILQUD\VWKHILQVXUIDFHZLOOJHQHUDWHDQLQWHUDFWLRQIRUFH
of the
RI WKH ILQ fin; G d (s) is the
 V  LV WKH width of the
ZLGWK RI fin. rUo UHSUHVHQWV
WKH ILQ represents the
WKH with
ZLWK the ground, VR
WKH JURXQG so that
WKDW the
WKH bionic amphibious robot
ELRQLF DPSKLELRXV URERW with
ZLWK
distance between the fin surface point and the top of the fin
GLVWDQFHEHWZHHQWKHILQVXUIDFHSRLQWDQGWKHWRSRIWKHILQ undulatory fins obtains driving force.
XQGXODWRU\ILQVREWDLQVGULYLQJIRUFH
U
along the F~(s,t) V W  GLUHFWLRQ
DORQJWKH direction.
U
Where needs to satisfy the wave equation:
:KHUH F~(s,t) V W  QHHGVWRVDWLVI\WKHZDYHHTXDWLRQ
U U
∂  F  VW   ∂  F  VW 
 −  = (5)
(5)
∂V  Y ∂W 
As shown LQ
$V VKRZQ in Fig.4, each ILQ
)LJ HDFK fin ray swings DFFRUGLQJ
UD\ VZLQJV according to a
WR D
certain phase difference, following a uniform fluctuation ofthe
FHUWDLQSKDVHGLIIHUHQFHIROORZLQJDXQLIRUPIOXFWXDWLRQRIWKH
equal period and equal frequency.
HTXDOSHULRGDQGHTXDOIUHTXHQF\


Figure 6. Mechanism
)LJXUH of undulatory fin propulsion on the ground
0HFKDQLVPRIXQGXODWRU\ILQSURSXOVLRQRQWKHJURXQG

When the
:KHQ WKH bionic amphibious robot
ELRQLF DPSKLELRXV is moving,
URERW LV PRYLQJ LWV its
undulatory fins LQWHUDFW
XQGXODWRU\ ILQV interact with
ZLWK the
WKH JURXQG is VLPLODU
ground LV similar toWR that of
WKDW RI
wheels. The bionic
ZKHHOV 7KH amphibious robot
ELRQLF DPSKLELRXV URERW with
ZLWK undulatory fins
XQGXODWRU\ ILQV
 generates torque from the built-in two rows of steering gears,
JHQHUDWHVWRUTXHIURPWKHEXLOWLQWZRURZVRIVWHHULQJJHDUV
which is transmitted to the fin rays through the connector, and
ZKLFKLVWUDQVPLWWHGWRWKHILQUD\VWKURXJKWKHFRQQHFWRUDQG
Figure 5. 6LPXODWLRQPRGHORIXQGXODWRU\ILQ
)LJXUH Simulation model of undulatory fin
the fin rays
WKH ILQ generate reciprocating
UD\V JHQHUDWH UHFLSURFDWLQJ power
SRZHU to deform the
WR GHIRUP WKH
undulatory fin surface to form a sine-like wave. The swinging
XQGXODWRU\ILQVXUIDFHWRIRUPDVLQHOLNHZDYH7KHVZLQJLQJ
Based on the
%DVHG RQ WKH above assumptions, DFFRUGLQJ
DERYH DVVXPSWLRQV according to WR the
WKH
force of the fin rays is transmitted to the
IRUFHRIWKHILQUD\VLVWUDQVPLWWHGWR contact part
WKH FRQWDFW of the
SDUW RI WKH
definition of
GHILQLWLRQ RI the
WKH wave
ZDYH vector
YHFWRU model of undulatory
PRGHO RI fin ruled
XQGXODWRU\ ILQ UXOHG
undulatory fin with the ground so that the fin generates an edge
XQGXODWRU\ILQZLWKWKHJURXQGVRWKDWWKHILQJHQHUDWHVDQHGJH
surface, D
VXUIDFH a bionic
ELRQLF undulatory fin ruled
XQGXODWRU\ ILQ surface GHVFULSWLRQ
UXOHG VXUIDFH description
tangential force RQ
WDQJHQWLDO IRUFH on the
WKH ground at the
JURXQG DW outer HGJH
WKH RXWHU of the
edge RI fin
WKH ILQ
model is constructed:
PRGHOLVFRQVWUXFWHG
surface. :KHQ
VXUIDFH When there is VXIILFLHQW
WKHUH LV sufficient DGKHVLRQ
adhesion between
EHWZHHQ the WKH
­ Px
S[ (r,l W  =O
 U O ,t)=l undulatory fin and the ground, that is, when the fin does not
XQGXODWRU\ILQDQGWKHJURXQGWKDWLVZKHQWKHILQGRHVQRW
° slip on the ground, the reaction force of the ground on the fin
VOLSRQWKHJURXQGWKHUHDFWLRQIRUFHRIWKHJURXQGRQWKHILQ
Py
S
° \ (r,l
 U  O  W  = U ⋅FRVθB(l,t))
,t)=r·cos( O W  which is HTXDO
ZKLFK LV equal toWR the
WKH tangential force but
WDQJHQWLDO IRUFH opposite to
EXW RSSRVLWH WR the
WKH
 ®  (6)
° pz
S] (r,l W  = U ⋅VLQθ O W 
 U O ,t)=r·sin(B(l,t)) direction will be generated, which will drive the robot to move
GLUHFWLRQZLOOEHJHQHUDWHGZKLFKZLOOGULYHWKHURERWWRPRYH
°O<r<R,O<I<L on the ground.
RQWKHJURXQG
¯ < U < 5  <O < /

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When the swinging force of the fin rays is transmitted to

:KHQWKHVZLQJLQJIRUFHRIWKHILQUD\VLVWUDQVPLWWHGWR periodically. Therefore, the
SHULRGLFDOO\ 7KHUHIRUH WKH horizontal distance between
KRUL]RQWDO GLVWDQFH EHWZHHQ the
WKH
the contact part of the undulatory fin with the ground through
WKHFRQWDFWSDUWRIWKHXQGXODWRU\ILQZLWKWKHJURXQGWKURXJK contact point and the two adj acent fin rays is not equal. And
FRQWDFWSRLQWDQGWKHWZRDGMDFHQWILQUD\VLVQRWHTXDO$QG
the fin rays, the outer edge of the undulatory fin is divided into
WKHILQUD\VWKHRXWHUHGJHRIWKHXQGXODWRU\ILQLVGLYLGHGLQWR the
WKH number of VHJPHQWV
QXPEHU RI segments GLYLGHG
divided by
E\ the outer HGJH
WKH RXWHU edge RI
of the
WKH
several segments connected by rods, as shown in Fig.6. The
VHYHUDOVHJPHQWVFRQQHFWHGE\URGVDVVKRZQLQ)LJ7KH undulatory fin is as large as possible to get closer to the true
XQGXODWRU\ILQLVDVODUJHDVSRVVLEOHWRJHWFORVHUWRWKHWUXH
outer HGJH
RXWHU edge ofRI the fin VXUIDFH
WKH ILQ surface between adjacent ILQ
EHWZHHQ DGMDFHQW fin rays is
UD\V LV value. Therefore, the equation (15) is further improved for the
YDOXH7KHUHIRUHWKHHTXDWLRQLVIXUWKHULPSURYHGIRUWKH
divided LQWR
GLYLGHG into ILYH
five VHJPHQWV
segments to illustrate the
WR LOOXVWUDWH WKH propulsion
SURSXOVLRQ driving force of the undulatory fin as:
GULYLQJIRUFHRIWKHXQGXODWRU\ILQDV
mechanism. Moreover, because the fin surface is flexible, the
PHFKDQLVP0RUHRYHUEHFDXVHWKHILQVXUIDFHLVIOH[LEOHWKH
 7G ⋅FRV θL FRV θ L ⋅⋅⋅FRV θ Q +L + FRV θL + FRV θ L + ⋅⋅⋅FRV θ P − QL +  (16)
force RI
IRUFH of RWKHU
other ILQV
fins RQ
on the
WKH contact
FRQWDFW part of the
SDUW RI WKH ground is very
JURXQG LV YHU\ )EW =
5
small except for the adjacent fins, and this force is ignored in
VPDOOH[FHSWIRUWKHDGMDFHQWILQVDQGWKLVIRUFHLVLJQRUHGLQ
this paper.
WKLVSDSHU m represents
P the number of fin surface segments between
UHSUHVHQWVWKHQXPEHURIILQVXUIDFHVHJPHQWVEHWZHHQ
the and Li +1 ILQ
WKH Li DQG fin rays, and nQ represents
UD\V DQG UHSUHVHQWV the
WKH number of ILQ
QXPEHU RI fin
The force between the fin surface and the ground can be
7KHIRUFHEHWZHHQWKHILQVXUIDFHDQGWKHJURXQGFDQEH
surface segments between the contact point and the adjacent Li 
VXUIDFHVHJPHQWVEHWZHHQWKHFRQWDFWSRLQWDQGWKHDGMDFHQW
expressed as:˖
H[SUHVVHGDV
fin.
ILQ
­ Fi,i
)L =F; cos θ81,iL
= )L FRV
° B.
% Driving Force Model Calculation
'ULYLQJ)RUFH0RGHO&DOFXODWLRQ
 ®F )2,L =F'.1
° =l )
,
lL
° cos θ82,lL
FRV °  (7)
Through the
7KURXJK aforementioned undulatory
WKH DIRUHPHQWLRQHG fin kinematics
XQGXODWRU\ ILQ NLQHPDWLFV
{°
¯ F)3,iL =F cos θ8
= )2,iL FRV 3 ,iL analysis of the bionic amphibious robot with undulatory fins,
DQDO\VLVRIWKHELRQLFDPSKLELRXVURERWZLWKXQGXODWRU\ILQV
the swing HTXDWLRQV
WKH VZLQJ equations RI
of the fin rays
WKH ILQ can be
UD\V FDQ obtained
EH REWDLQHG
­Fi
)Li+1 cos θ8
= )L + FRV respectively:
UHVSHFWLYHO\
+ =F;+1 1 Li+1
+
°
 ®F)2,i+1 = )L + FRV
L + :FJ,i+l L + 
cos θ(J2,i+1 (8)  θ8(x,t)=8
 [W  =θ mP VLQ
sineδJkx+ π IW +φ  
N[ + 2Jrft+¢) (17)
{° ) = ) FRV θ
¯ F 3,i+1 L + cos 8
L + -F2,i+1 3 ,i+1
L + And the wave equation of the outer edge of the undulatory
$QGWKHZDYHHTXDWLRQRIWKHRXWHUHGJHRIWKHXQGXODWRU\
fin:
ILQ
F; and F;+I
)L DQG )L + respectively
UHVSHFWLYHO\ represent
UHSUHVHQW the swing IRUFH
WKH VZLQJ force RI
of the
WKH
 \ =E VLQ
y=b θ  [W  
sine8(x,t)) (18)
bottom end of the Li DQG
ERWWRPHQGRIWKH and L+
i+l ILQUD\V
fin rays.
According to equation (16), to calculate the driving force
$FFRUGLQJWRHTXDWLRQWRFDOFXODWHWKHGULYLQJIRUFH
When the output power ofthe steering gear is P
:KHQWKHRXWSXWSRZHURIWKHVWHHULQJJHDULV , the motor
3dG WKHPRWRU
of the
RI WKH undulatory fin, the
XQGXODWRU\ ILQ WKH key is to
NH\ LV obtain the
WR REWDLQ WKH relative angle
UHODWLYH DQJOH
torque can be obtained from the power torque formula:
WRUTXHFDQEHREWDLQHGIURPWKHSRZHUWRUTXHIRUPXOD between the segments of the outer edge of the fin. Therefore,
EHWZHHQWKHVHJPHQWVRIWKHRXWHUHGJHRIWKHILQ7KHUHIRUH
3G the angle analysis of the outer edge of the fin is required.
WKHDQJOHDQDO\VLVRIWKHRXWHUHGJHRIWKHILQLVUHTXLUHG
Pd
 TdG =9550
7 =  (9)
Qn Fig.6 analysis, there is a relationship between the included
)LJDQDO\VLVWKHUHLVDUHODWLRQVKLSEHWZHHQWKHLQFOXGHG
Angle of each segment on the outer edge of the undulatory fin
$QJOHRIHDFKVHJPHQWRQWKHRXWHUHGJHRIWKHXQGXODWRU\ILQ
 =  I 
Qn=601 (10) and the
DQG inclination Angle
WKH LQFOLQDWLRQ of DGMDFHQW
$QJOH RI adjacent VHJPHQWV
segments. ,I
If the fin
WKH ILQ
surface between adjacent fin rays is divided into five segments,
VXUIDFHEHWZHHQDGMDFHQWILQUD\VLVGLYLGHGLQWRILYHVHJPHQWV
3 the inclination angle ofthe segment between the undulatory fin
 = PdG 
TG =9550
7 (11) WKHLQFOLQDWLRQDQJOHRIWKHVHJPHQWEHWZHHQWKHXQGXODWRU\ILQ
d 601
 I ground contact point near the Li ILQUD\VFDQEHREWDLQHG
JURXQGFRQWDFWSRLQWQHDUWKH fin rays can be obtained:
P can be measured by experiment; nQ represents
3dG FDQEHPHDVXUHGE\H[SHULPHQW the output
UHSUHVHQWVWKHRXWSXW ­ B o=--fn πJr
speed RI
VSHHG of the
WKH VWHHULQJ JHDU 1I means
steering gear; PHDQV fin swing IUHTXHQF\
ILQ VZLQJ frequency. °θ1,lL = 2 −ϕ V
1L
°

'rS,l

°
Therefore, the swing force of the fin rays to the outer edge of
7KHUHIRUHWKHVZLQJIRUFHRIWKHILQUD\VWRWKHRXWHUHGJHRI  ®θ82,iL =(jJs1,i
=ϕ VL -(jJs2,i
−ϕ V L  (19)
the undulatory fin surface can be obtained as:
WKHXQGXODWRU\ILQVXUIDFHFDQEHREWDLQHGDV °
°θ83,iL =(jJs2,i
=ϕ V L
7 ¯
 Fb=T
)E = dG  (12)
R
5 Similarly, the inclination angle of the segment between the
6LPLODUO\WKHLQFOLQDWLRQDQJOHRIWKHVHJPHQWEHWZHHQWKH
Since the
6LQFH swing DPSOLWXGH
WKH VZLQJ amplitude RI
of the fin LV
WKH ILQ is relatively small,
UHODWLYHO\ VPDOO undulatory fin ground contact point near the Li + 1 ILQUD\VFDQ
XQGXODWRU\ILQJURXQGFRQWDFWSRLQWQHDUWKH fin rays can
assuming that the waveform ofthe outer edge ofthe fin surface
DVVXPLQJWKDWWKHZDYHIRUPRIWKHRXWHUHGJHRIWKHILQVXUIDFH be obtained:
EHREWDLQHG
is a plane. At this time:
LVDSODQH$WWKLVWLPH
­ πJr
 )L = )L + = )E  (13) °θ81,i+1 = −ϕ VL +
L + =2-(jJS1,i+1

°
 θ
®82,i+1 = ϕ
L + =(jJs1,i+1 −ϕ V L + 
VL + -(jJs2,i+1 (20)
Thus, the driving force of the fin surface between the two
7KXVWKHGULYLQJIRUFHRIWKHILQVXUIDFHEHWZHHQWKHWZR
°
fin rays divided into five segments can be obtained:
ILQUD\VGLYLGHGLQWRILYHVHJPHQWVFDQEHREWDLQHG °θ83,i+1 =ϕ V L +
L + =(jJs2,i+1
¯
 )EW = )L + )L +  (14)
Where:
:KHUH
Combine the above equations:
&RPELQHWKHDERYHHTXDWLRQV
∂\
 WDQ ϕ V =
tanljJ, = dy  (21)
 F,
EW =
)bt
= 7TdG ⋅. FRV
(cos θBI,i cos θB2,iL FRV
L FRV cos θB + FRV θBI,i+
3 ,iL +cos
R
cos θB2,i+
L +1 FRV cos θB
L +1 FRV L +1) (15)
3 ,i+
(15) ax
∂[
5
When the
:KHQ WKH robot
URERW moves,
PRYHV the contact points
WKH FRQWDFW SRLQWV between
EHWZHHQ the
WKH
Generally, during the movement of the bionic amphibious
*HQHUDOO\GXULQJWKHPRYHPHQWRIWKHELRQLFDPSKLELRXV undulatory fin and the ground are the valley points of the outer
XQGXODWRU\ILQDQGWKHJURXQGDUHWKHYDOOH\SRLQWVRIWKHRXWHU
robot with undulatory fins, the position of the fin rays changes
URERWZLWKXQGXODWRU\ILQVWKHSRVLWLRQRIWKHILQUD\VFKDQJHV

1388

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HGJHRIWKHILQVXUIDFH%\HTXDWLRQWKHFRQWDFWSRLQWFDQ
edge of the fin surface. By equation (17), the contact point can JURXQGDGYDQFHVWKHOHQJWKRIWKHDUF
ground advances the length ofthe arc SA.6λ ,IWKHXQGXODWRU\ILQ
If the undulatory fin
EHREWDLQHG
be obtained: PRYHV IRUZDUG ZLWKRXW UHODWLYH VOLSSDJH WKH IRUZDUG
moves forward without relative slippage, the forward
DUFVLQ − − π ft+¢J
IW +φ GLVSODFHPHQWRIWKHURERWLQRQHSHULRGXQGHUWKHFRQGLWLRQRI
displacement of the robot in one period under the condition of
 arcsin( -1)-2Jr 
x[J = (22)
(22) FRQVWDQWVSHHGLV$WRVDWLVI\WKHIRUZDUGSURSXOVLRQZKHQWKH
constant speed is A, to satisfy the forward propulsion when the
g δJkN ILQVXUIDFHPDNHVDQRQVOLSPRWLRQ
fin surface makes a non-slip motion.
7KH
The ILQ
fin VXUIDFH
surface VHJPHQW EHWZHHQ two
segment between WZR DGMDFHQW
adjacent ILQV
fins LV
is 7KXV WKH VSHHG
Thus, the speed RI WKH robot
of the URERW LQ
in D
a VWHDG\
steady VWDWH
state FDQ EH
can be
HTXDOO\GLYLGHGDORQJWKH
equally divided along the x[ GLUHFWLRQDQGWKHVHJPHQWOHQJWK
direction, and the segment length REWDLQHG
obtained:
LVUHSUHVHQWHGE\ Δ[ :
is represented by Ax
6λ − λ
O  XE = =  6λ − λ  I  (31)
(31)
 Δ[ =   (23)
(23) 7
P
7RFRQWUROWKHRWKHUPRWLRQSDUDPHWHUVRIWKHXQGXODWRU\
To control the other motion parameters of the undulatory
Q = « Xg:XXi »]
ª [J − [L º
n=[
ILQXQFKDQJHGWKHLQIOXHQFHRIWKHILQVZLQJDPSOLWXGHRQWKH
fin unchanged, the influence of the fin swing amplitude on the
 (24)
(24) SURSXOVLRQ IRUFH
¬ Δ[ ¼ propulsion force DQG
and VSHHG
speed RI WKH undulatory
of the XQGXODWRU\ ILQ
fin FDQ EH
can be
GLVFXVVHGE\FKDQJLQJWKHVZLQJDQJOHRIWKHILQUD\VDVVKRZQ
discussed by changing the swing angle ofthe fin rays, as shown
O UHSUHVHQWV WKH GLVWDQFH EHWZHHQ WZR DGMDFHQW ILQV LQ)LJ
in Fig.7.
1 0 represents the distance between two adjacent fins.
7KHUHIRUH
Therefore, by equations 
E\ HTXDWLRQV (19) DQG
and 
(20), LQ
in JHQHUDO WKH DQJOH
general, the angle
EHWZHHQWKHVHJPHQWVRIWKHRXWHUHGJHRIWKHXQGXODWRU\ILQLV
between the segments ofthe outer edge ofthe undulatory fin is:

cos θBn+1,i
FRV Q +L = cos(arctan ϕ
= FRVDUFWDQ {jJsV Ix=x;+(n-l)Li,J
[ = [L + Q − Δ[  (25)
(25)

FRV θBn,i
cos QL = FRVDUFWDQ ϕ
= cos(arctan {jJsV Ix=x;+(n-2)Lix-
[ = [L + Q −  Δ[ −
(26)
(26)
 arctan
DUFWDQ ϕ 
(jJ,V IX=X; + Q − Δ[ ˅
[ = [L +(n-l)Lix )
)LJXUH
Figure 7KHRUHWLFDOLQIOXHQFHFXUYHRIZDYHDPSOLWXGH
7. Theoretical influence curve of wave amplitude
«
7KHVLPXODWLRQUHVXOWVVKRZWKDWWKHSURSXOVLRQIRUFHDQG
The simulation results show that the propulsion force and
 FRV θL = FRVπ  − DUFWDQ ϕ V  (27) 
(27) SURSXOVLRQ VSHHG
propulsion speed RI WKH undulatory
of the XQGXODWRU\ ILQV
fins DUH SRVLWLYHO\
are positively
[ = [L
FRUUHODWHGZLWKLWVZDYHDPSOLWXGH+RZHYHUDVWKHDPSOLWXGH
correlated with its wave amplitude. However, as the amplitude
LQFUHDVHVWKHSURSXOVLRQWHQGVWREHIODW7KHUHDVRQLVWKDWWKH
increases, the propulsion tends to be flat. The reason is that the
cos θBm-n,i+l
FRV P − QL + = cos(arctan ϕ
= FRVDUFWDQ (jJ,V [ = [L + + P − Q −  Δ[ 
IX=x;+1+(m-n-2)Lix)
(28)
(28) LQFUHDVH
increase LQ
in DPSOLWXGH
amplitude LV
is FRQVWUDLQHG
constrained byE\ the
WKH undulatory
XQGXODWRU\ ILQ
fin
VWUXFWXUH DQG WKH ZDYHIRUP LV GLVWRUWHG 7KH
structure and the waveform is distorted. The theoreticalWKHRUHWLFDO
FRV θBmP-n-I DVVXPSWLRQVDUHQRORQJHUDSSOLFDEOH
cos − Q −,iL +I = cos(arctan ϕ
= FRVDUFWDQ {jJsV IX=X;+I
[ = [L + +(
+ P − Q − 
m -n- Δ[ -−
3) Lix
assumptions are no longer applicable.
(29)
(29)
 DUFWDQ ϕ V + P − Q −  Δ[  IV.  EXPERIMENT
,9 (;3(5,0(17
arctan (jJs X=XI
[ = [L + +(m-n-2)Lix)
H1

$VVKRZQLQ)LJWKURXJKWKHH[SHULPHQWRIXQGXODWRU\
As shown in Fig.8, through the experiment of undulatory
« ILQPRYHPHQWRQWKHLQGRRUIORRUWKHH[SHULPHQWDOWHVWRIWKH
fin movement on the indoor floor, the experimental test of the
SURSXOVLRQVSHHGDQGSURSXOVLRQIRUFHJHQHUDWHGE\WKHOLQHDU
propulsion speed and propulsion force generated by the linear
cos θBLi+l
FRV
1,
= FRVπ  − DUFWDQ ϕ
+ =cos(Jr/2-arctan [ = [L + )
qJsV IX=X. 1+1
(30)
(30) PRYHPHQW RI
movement WKH undulatory
of the XQGXODWRU\ ILQ
fin LV
is FRPSOHWHG
completed. 7KH The
H[SHULPHQWDO
experimental results of the undulatory fin VKRZ
UHVXOWV RI WKH XQGXODWRU\ ILQ WKDW the
show that WKH
& XQGXODWRU\ ILQ FDQ SHUIRUP IRUZDUG EDFNZDUG
undulatory fm can perform forward, backward, and turningDQG WXUQLQJ
C. 9HORFLW\&DOFXODWLRQ
Velocity Calculation
FRQWUROZHOOEXWWKHPRYHPHQWVSHHGLVVORZ7KLVLVEHFDXVH
control well, but the movement speed is slow. This is because
7KH ELRQLF DPSKLELRXV
The bionic amphibious robotURERW with
ZLWK undulatory
XQGXODWRU\ ILQV ZLOO
fins will WKH RXWSXW
XQGHUJR WKUHH FKDQJHV IURP VWDWLRQDU\ WR PRYLQJ RQ WKH the output IUHTXHQF\
frequency DQG
and RXWSXW SRZHU RI
output power WKH ILQ
of the fin GULYLQJ
driving
undergo three changes from stationary to moving on the VWHHULQJJHDUDUHOLPLWHG7KHDSSOLFDWLRQRIVWHHULQJJHDUZLWK
JURXQG8QGXODWRU\ILQUD\VVZLQJ DFFHOHUDWLRQ DQG URERW steering gear are limited. The application of steering gear with
ground: 1. Undulatory fin rays swing acceleration and robot KLJKHU IUHTXHQF\
DFFHOHUDWLRQVWDJH8QGXODWRU\ILQUD\VFRQVWDQWVZLQJDQG higher frequency DQG KLJKHU RXWSXW
and higher SRZHU FDQ
output power PDNH the
can make WKH
acceleration stage; 2. Undulatory fin rays constant swing and XQGXODWRU\ILQDFKLHYHKLJKHUVSHHG
URERWDFFHOHUDWLRQVWDJH5RERWVSHHGFRQVWDQWVWDJH7KH undulatory fin achieve higher speed.
robot acceleration stage; 3. Robot speed constant stage. The
SURFHVVLQJ WLPH RI
processing time of 
1, 2 LV YHU\ VKRUW
is very short. 7KLV SDSHU mainly
This paper PDLQO\
GLVFXVVHVWKHWKLUGSURFHVVVRWKHURERWDQGXQGXODWRU\ILQVDUH
discusses the third process, so the robot and undulatory fins are
GHILQHGDVIROORZV
defined as follows:
7KHXQGXODWRU\ILQVDOZD\VVZLQJDWDFRQVWDQWIUHTXHQF\
The undulatory fins always swing at a constant frequency,
DQG WKH robot
and the URERW DFFHOHUDWHV
accelerates IURP
from VWDWLRQDU\ WR FRQVWDQW
stationary to constant VSHHG
speed.
$VVXPLQJWKDWWKHJURXQGFDQJLYHHQRXJKDGKHVLRQWKHUHLV
Assuming that the ground can give enough adhesion, there is
QR VOLS
no PRWLRQ DW
slip motion at D
a FRQVWDQW
constant VSHHG
speed. 7KHUHIRUH
Therefore, GXULQJ WKH
during the
FRQVWDQWVSHHGPRYHPHQWHYHU\SRLQWRQWKHRXWHUHGJHRIWKH
constant speed movement, every point on the outer edge of the
XQGXODWRU\ILQZLOOWRXFKWKHJURXQGLQWXUQ&RQVLGHUWKHDUF
undulatory fin will touch the ground in tum. Consider the arc
OHQJWKRIDZDYHDQGWKHGLVWDQFHEHWZHHQWKHILQUD\V,QD
length of a wave and the distance between the fin rays. In a 
SHULRGRI
period of 7T WKHFRQWDFWSRLQWRIWKHXQGXODWRU\ILQZLWKWKH
, the contact point of the undulatory fin with the
)LJXUH
Figure ,QGRRUH[SHULPHQWZLWKXQGXODWRU\ILQV
8. Indoor experiment with undulatory fins

1389
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By changing the wave amplitude of the undulatory fin, a

%\FKDQJLQJWKHZDYHDPSOLWXGHRIWKHXQGXODWRU\ILQD wheel dynamics, the
ZKHHO G\QDPLFV dynamics RI
WKH G\QDPLFV of the
WKH undulatory fin LV
XQGXODWRU\ ILQ is
bionic undulatory fin motion experiment was performed, and
ELRQLFXQGXODWRU\ILQPRWLRQH[SHULPHQWZDVSHUIRUPHGDQG discussed, DQG
GLVFXVVHG and the dynamic theoretical
WKH G\QDPLF WKHRUHWLFDO model is YHULILHG
PRGHO LV verified
the results of the propulsion speed and propulsion force of the
WKHUHVXOWVRIWKHSURSXOVLRQVSHHGDQGSURSXOVLRQIRUFHRIWKH through experiments, which provides a theoretical basis for the
WKURXJKH[SHULPHQWVZKLFKSURYLGHVDWKHRUHWLFDOEDVLVIRUWKH
fin experiment were obtained as shown in table I.
ILQH[SHULPHQWZHUHREWDLQHGDVVKRZQLQWDEOH,
application RI
DSSOLFDWLRQ of undulatory fins to
XQGXODWRU\ ILQV WR ground
JURXQG propulsion
SURSXOVLRQ
Fig.9 shows the influence curve of the wave amplitude on
)LJVKRZVWKHLQIOXHQFHFXUYHRIWKHZDYHDPSOLWXGHRQ mechanisms. It has great innovation and applications prospect.
PHFKDQLVPV,WKDVJUHDWLQQRYDWLRQDQGDSSOLFDWLRQVSURVSHFW
the
WKH propulsion
SURSXOVLRQ performance
SHUIRUPDQFH RI of the
WKH undulatory fin. :KHQ
XQGXODWRU\ ILQ When the
WKH
wave amplitude is in the range of 10°-25°, with the increase of
ZDYHDPSOLWXGHLVLQWKHUDQJHRIƒƒZLWKWKHLQFUHDVHRI $&.12:/('*0(17
ACKNOWLEDGMENT
the amplitude, the
WKHDPSOLWXGH WKH propulsion speed DQG
SURSXOVLRQ VSHHG and propulsion force RI
SURSXOVLRQ IRUFH of
The author wants to thank the underwater bionic undulatory
7KHDXWKRUZDQWVWRWKDQNWKHXQGHUZDWHUELRQLFXQGXODWRU\
the undulatory fin gradually increase, which is consistent with
WKHXQGXODWRU\ILQJUDGXDOO\LQFUHDVHZKLFKLVFRQVLVWHQWZLWK
simulation analysis. When the wave amplitude is in the range
VLPXODWLRQDQDO\VLV:KHQWKHZDYHDPSOLWXGHLVLQWKHUDQJH fin team ofXi' an Jiaotong University for their assistance in the
ILQWHDPRI;L¶DQ-LDRWRQJ8QLYHUVLW\IRUWKHLUDVVLVWDQFHLQWKH
of 25°-30°, as the amplitude increases, the propulsion speed
RIƒƒDVWKHDPSOLWXGHLQFUHDVHVWKHSURSXOVLRQVSHHG establishment of this theoretical model and the experiment.
HVWDEOLVKPHQWRIWKLVWKHRUHWLFDOPRGHODQGWKHH[SHULPHQW
and propulsion force produced by the undulatory fin gradually
DQGSURSXOVLRQIRUFHSURGXFHGE\WKHXQGXODWRU\ILQJUDGXDOO\
decrease. The reason for the decrease in propulsion speed and
GHFUHDVH7KHUHDVRQIRUWKHGHFUHDVHLQSURSXOVLRQVSHHGDQG 5()(5(1&(6
REFERENCES
propulsion is GXH
force LV
SURSXOVLRQ IRUFH due to
WR the limitation RI
WKH OLPLWDWLRQ of the shape DQG
WKH VKDSH and >@ =KDQJ;LXOL=KHQJ+DRMXQ&KHQ.HQDQG'XDQ*XDQJKRQJ$UHYLHZ
[1] Zhang Xiuli, Zheng Haojun, Chen Ken, and Duan Guanghong, A review
structure of the undulatory fin mechanism, which leads to the
VWUXFWXUHRIWKHXQGXODWRU\ILQPHFKDQLVPZKLFKOHDGVWRWKH RIURERWELRQLFV5RERWSS0DU
ofrobot bionics, Robot, pp. 188-192, Mar. 2002.
distortion of the waveform of the fin. The conclusion that the
GLVWRUWLRQRIWKHZDYHIRUPRIWKHILQ7KHFRQFOXVLRQWKDWWKH >@ =KRX<RXFKHQJ5HVHDUFKRQPRWLRQFRQWURORIDPSKLELRXVURERW
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EDVHGRQ&3*QHXUDOQHWZRUNYRO0DVWHU8QLYHUVLW\RI6FLHQFHDQG
based on CPG neural network,. vol. Master: University of Science and
propulsion
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WR be flat LQ
EH IODW in the simulation VWDJH
WKH VLPXODWLRQ is DOVR
stage LV also
7HFKQRORJ\RI&KLQDS
Technology of China, 2016, p. 76.
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in amphibious environment,. vol. Doctor: University of Science and
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7HFKQRORJ\RI&KLQDS
Technology of China, 2014, p. 133.
TABLE I. RESULT OF AMPLITUDE CHANGE
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Yang Qinghai, Yu Junzhi, Tan Min, and Wang Shuo, A review of
$PSOLWXGH 3URSXOVLRQVSHHG SURSXOVLRQIRUFH DPSKLELRXVELRQLFURERWV5RERWSS1RY
amphibious bionic robots, Robot, pp. 601-608, Nov. 2007.
e
e PV 1 >@
[5] 6X=RQJVKXDL5HVHDUFKSURJUHVVDQGDSSOLFDWLRQRIDPSKLELRXV
Su Zongshuai, Research progress and application ofamphibious
ELRQLFURERWV'HIHQFHUHODWHG6FLHQFHDQG7HFKQRORJ\YROSS
bionic robots, Defence-related Science and Technology, vol. 40, pp.
  
$XJ
50-54, Aug. 2019.
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M. M., F. E. and W. B. 1., Designingfuture underwater vehicles:
SULQFLSOHVDQGPHFKDQLVPVRIWKHZHDNO\HOHFWULFILVK,(((-RXUQDORI
principles and mechanisms ofthe weakly electric fish, IEEE Journal of
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Oceanic Engineering, vol. 29, Jul. 2004.
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[7] M. 0(SVWHLQ-(&ROJDWHDQG0$0DF,YHU*HQHUDWLQJWKUXVWZLWKD
Epstein, 1. E. Colgate and M. A. MacIver, Generating thrust with a
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biologically-inspired robotic ribbonfin, 2006, pp. 2412-2417.
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[8] M. 0&2VFDU$31HHOHVK9/*HRUJHDQG$00DOFROP
C. Oscar, A. P. Neelesh, V. L. George, and A. M. Malcolm,
0HFKDQLFDOSURSHUWLHVRIDELRLQVSLUHGURERWLFNQLIHILVKZLWKDQ
Mechanical properties ofa bio-inspired robotic knifefish with an
7KH
The H[SHULPHQW
experiment RIof RWKHU SHUIRUPDQFH parameters
other performance SDUDPHWHUV LV QRW
is not XQGXODWRU\SURSXOVRU%LRLQVSLUDWLRQ %LRPLPHWLFVYRO-XQ
undulatory propulsor, Bioinspiration & Biomimetics, vol. 6, Jun. 2011.
IXOO\UHIOHFWHGLQWKLVSDSHUEXWWKHLGHDRIWKHH[SHULPHQWLV
fully reflected in this paper, but the idea of the experiment is >@
[9] 1. -'*HGHU55DPDPXUWL03UXHVVQHUDQG-3DOPLVDQR
D. Geder, R. Ramamurti, M. Pruessner, and 1. Palmisano,
VLPLODUWRWKHDERYHH[SHULPHQWVRWKLVSDSHUZLOOQRWGHVFULEH
similar to the above experiment, so this paper will not describe 0DQHXYHULQJSHUIRUPDQFHRIDIRXUILQELRLQVSLUHG889S
Maneuvering performance ofafour-fin bio-inspired UUV, 2013, p. 7
LW SSSS
pp.-7 pp.
it. 7KURXJK
Through ODQGEDVHG
land-based H[SHULPHQWV
experiments, the WKH rationality
UDWLRQDOLW\ RI WKH
of the
>@
[10] A.$$6KLUJDRQNDU20&XUHW1$3DWDQNDUDQG0$0DFLYHU
A. Shirgaonkar, O. M. Curet, N. A. Patankar, and M. A. Maciver,
GHVLJQRIWKHXQGXODWRU\ILQVWUXFWXUHZDVYHULILHG$WWKHVDPH
design ofthe undulatory fin structure was verified. At the same 7KHK\GURG\QDPLFVRIULEERQILQSURSXOVLRQGXULQJLPSXOVLYHPRWLRQ
The hydrodynamics ofribbon-fin propulsion during impulsive motion,
WLPHWKHH[SHULPHQWDOUHVXOWVRIWKHELRQLFXQGXODWRU\ILQDQG
time, the experimental results of the bionic undulatory fin and 7KH-RXUQDORIH[SHULPHQWDOELRORJ\YRO1RY
The Journal of experimental biology, vol. 211, Nov. 2008.
WKH theoretical
the WKHRUHWLFDO VKRZHG WKH VDPH
showed the WUHQG which
same trend, ZKLFK proved
SURYHG the
WKH >@
[11] R.5'0DODGHQ3%8PEDQKRZDU<'LQJ$0DVVHDQG',
D. Maladen, P. B. Umbanhowar, Y. Ding, A. Masse, and D. I.
FRUUHFWQHVV
correctness RI WKH undulatory
of the XQGXODWRU\ ILQ SURSXOVLRQ VSHHG
fin propulsion speed DQGand *ROGPDQ*UDQXODUOLIWIRUFHVSUHGLFWYHUWLFDOPRWLRQRID
Goldman, Granular lift forces predict vertical motion ofa
SURSXOVLRQG\QDPLFVPRGHO7KHWKHRUHWLFDOFDQIXUWKHUJXLGH
propulsion dynamics model. The theoretical can further guide VDQGVZLPPLQJURERWLQ,(((,QWHUQDWLRQDO&RQIHUHQFHRQ5RERWLFV
sand-swimming robot, in IEEE International Conference on Robotics
WKHGHYHORSPHQWRIWKHXQGXODWRU\ILQDQGSURYLGHWKHRUHWLFDO DQG$XWRPDWLRQ,&5$SS
and Automation ICRA, 2011, pp. 1398-1403.
the development of the undulatory fin and provide theoretical >@ 5'0DODGHQ<'LQJ3%8PEDQKRZDUDQG',*ROGPDQ
[12] R. D. Maladen, Y. Ding, P. B. Umbanhowar, and D. I. Goldman,
JXLGDQFH IRU
guidance WKH GHYHORSPHQW
for the development RI
of D QHZ generation
a new JHQHUDWLRQ RI WKH
of the 8QGXODWRU\VZLPPLQJLQVDQGH[SHULPHQWDODQGVLPXODWLRQVWXGLHVRI
Undulatory swimming in sand: experimental and simulation studies of
XQGXODWRU\ILQ
undulatory fin. aDURERWLFVDQGILVK,QWHUQDWLRQDO-RXUQDORI5RERWLFV5HVHDUFKYRO
robotic sandfish, International Journal of Robotics Research, vol. 30,
SS
pp. 793-805, 2011.
>@
[13] 666KDUSH6$.RHKOHU50.XFNXN06HUUDQR3$9HOD-
S. S. Sharpe, S. A. Koehler, R. M. Kuckuk, M. Serrano, P. A. Vela, 1.
0HQGHOVRQDQG',*ROGPDQ&RUUHFWLRQ/RFRPRWRUEHQHILWVRI
Mendelson, and D. I. Goldman, Correction. Locomotor benefits of
EHLQJDVOHQGHUDQGVOLFNVDQGVZLPPHU7KH-RXUQDORIH[SHULPHQWDO
being a slender and slick sand-swimmer, The Journal of experimental
ELRORJ\YRO$SU
biology, vol. 218, Apr. 2015.
>@
[14] Hu+X7LDQMLDQJ6KHQ/LQFKHQJ/L)HL:DQJ*XDQJPLQJDQG+DQ
Tianjiang, Shen Lincheng, Li Fei, Wang Guangming, and Han
;LDR\XQ5HVHDUFKRQNLQHPDWLFVPRGHOLQJDQGDOJRULWKPRI
Xiaoyun, Research on kinematics modeling and algorithm of
XQGXODWRU\ILQ&RQWURO7KHRU\DQG$SSOLFDWLRQYROSS-DQ
undulatory fin, Control Theory and Application, vol. 26, pp. 1-7, Jan.

2009.
 
)LJXUH
Figure $FWXDOLQIOXHQFHFXUYHRIZDYHDPSOLWXGH
9. Actual influence curve of wave amplitude

v.
9 &21&/86,21
CONCLUSION
%DVHG RQ
Based WKH GHVLJQHG
on the ELRQLF undulatory
designed bionic XQGXODWRU\ fins,
ILQV this
WKLV paper
SDSHU
DQDO\]HVWKHNLQHPDWLFVRIWKHXQGXODWRU\ILQZKLFKSURYLGHVD
analyzes the kinematics ofthe undulatory fin, which provides a
UHIHUHQFHIRUWKHGHVLJQDQGFRQWURORIWKHDPSKLELRXVELRQLF
reference for the design and control of the amphibious bionic
XQGXODWRU\ ILQ
undulatory $W the
fin. At WKH VDPH WLPH based
same time, EDVHG RQ WKH research
on the UHVHDUFK RI
of

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Authorized licensed use limited to: ASU Library. Downloaded on August 25,2022 at 19:20:40 UTC from IEEE Xplore. Restrictions apply.