Optimally efficient swimming in hyper-redundant mechanisms: control, design, and energy recovery.
Bioinspir Biomim
; 7(4): 046016, 2012 Dec.
Article
em En
| MEDLINE
| ID: mdl-23135166
Hyper-redundant mechanisms (HRMs), also known as snake-like robots, are highly adaptable during locomotion on land. Researchers are currently working to extend their capabilities to aquatic environments through biomimetic undulatory propulsion. In addition to increasing the versatility of the system, truly biomimetic swimming could also provide excellent locomotion efficiency. Unfortunately, the complexity of the system precludes the development of a functional solution to achieve this. To explore this problem, a rapid optimization process is used to generate efficient HRM swimming gaits. The low computational cost of the approach allows for multiple optimizations over a broad range of system conditions. By observing how these conditions affect optimal kinematics, a number of new insights are developed regarding undulatory swimming in robotic systems. Two key conditions are varied within the study, swimming speed and energy recovery. It is found that the swimmer mimics the speed control behaviour of natural fish and that energy recovery drastically increases the system's efficiency. Remarkably, this efficiency increase is accompanied by a distinct change in swimming kinematics. With energy recovery, the swimmer converges to a clearly anguilliform gait, without, it tends towards the carangiform mode.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Natação
/
Retroalimentação Fisiológica
/
Biomimética
/
Transferência de Energia
/
Peixes
/
Marcha
/
Modelos Biológicos
Limite:
Animals
Idioma:
En
Revista:
Bioinspir Biomim
Assunto da revista:
BIOLOGIA
/
ENGENHARIA BIOMEDICA
Ano de publicação:
2012
Tipo de documento:
Article
País de afiliação:
Canadá
País de publicação:
Reino Unido