{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:18:44Z","timestamp":1760149124775,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,7,5]],"date-time":"2023-07-05T00:00:00Z","timestamp":1688515200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["62233001","T2121002","62073196","62273351","2023HYZX01"],"award-info":[{"award-number":["62233001","T2121002","62073196","62273351","2023HYZX01"]}]},{"name":"Major Innovation Project of Qilu University of Technology (Shandong Academy of Science)","award":["62233001","T2121002","62073196","62273351","2023HYZX01"],"award-info":[{"award-number":["62233001","T2121002","62073196","62273351","2023HYZX01"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Biological fish can always sense the state of water flow and regulate the angle of attack in time, so as to maintain the highest movement efficiency during periodic flapping. The biological adjustment of the caudal fin\u2019s angle of attack (AoA) depends on the contraction\/relaxation of the tail muscles, accompanying the variation in tail stiffness. During an interaction with external fluid, it helps to maintain the optimal angle of attack during movement, to improve the propulsion performance. Inspired by this, this paper proposes a tail joint motion control scheme based on AoA feedback for the high-speed swimming of bionic dolphins. Firstly, the kinematic characteristics of the designed robot dolphin are analyzed, and the hardware basis is clarified. Second, aiming at the deficiency of the tail motor, which cannot effectively cooperate with the waist joint motor during high-frequency movement, a compensation model for the friction force and latex skin-restoring force is designed, and a joint angle control algorithm based on fuzzy inference is proposed to realize the tracking of the desired joint angle for the tail joint in torque mode. In addition, a tail joint closed-loop control scheme based on angle of attack feedback is proposed to improve the motion performance. Finally, experiments verify the effectiveness of the proposed motion control scheme.<\/jats:p>","DOI":"10.3390\/biomimetics8030291","type":"journal-article","created":{"date-parts":[[2023,7,6]],"date-time":"2023-07-06T00:41:27Z","timestamp":1688604087000},"page":"291","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Torque Control Strategy for a Robotic Dolphin Platform Based on Angle of Attack Feedback"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9360-7287","authenticated-orcid":false,"given":"Tianzhu","family":"Wang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6347-572X","authenticated-orcid":false,"given":"Junzhi","family":"Yu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Di","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Meng","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"587","DOI":"10.1242\/jeb.012096","article-title":"Speed-dependent intrinsic caudal fin muscle recruitment during steady swimming in bluegill sunfish, Lepomis macrochirus","volume":"211","author":"Flammang","year":"2008","journal-title":"J. Exp. Biol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"771","DOI":"10.1093\/icb\/38.4.771","article-title":"Muscles, elastic energy, and the dynamics of body stiffness in swimming eels","volume":"38","author":"Long","year":"1998","journal-title":"Am. Zool."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"3579","DOI":"10.1109\/TMECH.2021.3136342","article-title":"Development of a high-speed swimming robot with the capability of fish-like leaping","volume":"27","author":"Chen","year":"2022","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"4132","DOI":"10.1109\/TMECH.2022.3150982","article-title":"Design and optimization of an untethered high-performance robotic tuna","volume":"27","author":"Tong","year":"2022","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ziegler, M., Hoffmann, M., Carbajal, J.P., and Pfeifer, R. (2011, January 9\u201313). Varying body stiffness for aquatic locomotion. Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China.","DOI":"10.1109\/ICRA.2011.5979798"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1299\/jbse.4.82","article-title":"Bioinspired propulsion mechanism using a fin with a dynamic variable-effective-length spring-evaluation of thrust characteristics and flow around a fin in a uniform flow","volume":"4","author":"Nakabayashi","year":"2009","journal-title":"J. Biomech. Sci. Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"036002","DOI":"10.1088\/1748-3182\/9\/3\/036002","article-title":"Design of a variable-stiffness flapping mechanism for maximizing the thrust of a bio-inspired underwater robot","volume":"9","author":"Park","year":"2014","journal-title":"Bioinspir. Biomim."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"eabe4088","DOI":"10.1126\/scirobotics.abe4088","article-title":"Tunable stiffness enables fast and efficient swimming in fish-like robots","volume":"6","author":"Zhong","year":"2021","journal-title":"Sci. Robot."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"110627","DOI":"10.1016\/j.oceaneng.2022.110627","article-title":"A wave foil with passive angle of attack adjustment for wave energy extraction for ships","volume":"246","author":"Zhang","year":"2022","journal-title":"Ocean Eng."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Chen, L., Bi, S., Cai, Y., Cao, Y., and Pan, G. (2022). Design and experimental research on a bionic robot Fish with tri-dimensional soft pectoral fins inspired by cownose ray. J. Mar. Sci. Eng., 10.","DOI":"10.3390\/jmse10040537"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Chen, L., Bi, S., Cai, Y., and Qiu, H. (2022). Design and hydrodynamic experiment research on novel biomimetic pectoral fins of a ray-inspired robotic fish. Machines, 10.","DOI":"10.3390\/machines10080606"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"200","DOI":"10.1016\/j.oceaneng.2016.10.005","article-title":"Numerical investigations on flow structure and behavior of vortices in the dynamic stall of an oscillating pitching hydrofoil","volume":"127","author":"Karbasian","year":"2016","journal-title":"Ocean Eng."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"2350","DOI":"10.1109\/TMECH.2020.3038224","article-title":"Biomimetic realization of a robotic penguin wing: Design and thrust characteristics","volume":"26","author":"Shen","year":"2021","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.1109\/TRO.2021.3098239","article-title":"Learning for attitude holding of a robotic fish: An end-to-end approach with sim-to-real transfer","volume":"38","author":"Zheng","year":"2022","journal-title":"IEEE Trans. Robot."},{"key":"ref_15","unstructured":"Fish, F.E., and Rohr, J. (2023, June 25). Review of Dolphin Hydrodynamics and Swimming Performance. Available online: https:\/\/apps.dtic.mil\/sti\/pdfs\/ADA369158.pdf."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"4351","DOI":"10.1242\/jeb.149617","article-title":"Control surfaces of aquatic vertebrates: Active and passive design and function","volume":"220","author":"Fish","year":"2017","journal-title":"J. Exp. Biol."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"252","DOI":"10.1242\/jeb.087924","article-title":"Measurement of hydrodynamic force generation by swimming dolphins using bubble DPIV","volume":"217","author":"Fish","year":"2014","journal-title":"J. Exp. Biol."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"20122071","DOI":"10.1098\/rspb.2012.2071","article-title":"The fish tail motion forms an attached leading edge vortex","volume":"280","author":"Borazjani","year":"2013","journal-title":"Proc. R. Soc. B Biol. Sci."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1017\/jfm.2017.533","article-title":"Computational analysis of vortex dynamics and performance enhancement due to body-fin and fin-fin interactions in fish-like locomotion","volume":"829","author":"Liu","year":"2017","journal-title":"J. Fluid. Mech."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"13828","DOI":"10.1073\/pnas.1705968115","article-title":"Accelerating fishes increase propulsive efficiency by modulating vortex ring geometry","volume":"114","author":"Akanyeti","year":"2017","journal-title":"Proc. Natl. Acad. Sci. USA"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1016\/j.oceaneng.2017.05.011","article-title":"Numerical investigation of fish exploiting vortices based on the K\u00e1rm\u00e1n gaiting model","volume":"140","author":"Li","year":"2017","journal-title":"Ocean Eng."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"1295","DOI":"10.1109\/JOE.2019.2940800","article-title":"Design of a miniature underwater angle-of-attack sensor and its application to a self-propelled robotic fish","volume":"45","author":"Yu","year":"2019","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"400","DOI":"10.1166\/jno.2019.2539","article-title":"A numerical simulation analysis on bionic robot fish based on computational fluid dynamics (CFD) method","volume":"14","author":"Wang","year":"2019","journal-title":"J. Nanoelectron. Optoelectron."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"026008","DOI":"10.1088\/1748-3190\/ab6b6c","article-title":"CFD based parameter tuning for motion control of robotic fish","volume":"15","author":"Tian","year":"2020","journal-title":"Bioinspir. Biomim."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Zhao, C., and Zhang, R. (2019, January 25\u201328). Hydrodynamic analysis on the shape of bionic fish based on CFD. Proceedings of the 2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE), Singapore.","DOI":"10.1109\/IRCE.2019.00012"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Clapham, R.J., and Hu, H. (June, January 31). iSplash-I: High performance swimming motion of a carangiform robotic fish with full-body coordination. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6906629"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Clapham, R.J., and Hu, H. (2014, January 14\u201318). iSplash-II: Realizing fast carangiform swimming to outperform a real fish. Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6942692"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"eaax4615","DOI":"10.1126\/scirobotics.aax4615","article-title":"Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes","volume":"4","author":"Zhu","year":"2019","journal-title":"Sci. Robot."}],"container-title":["Biomimetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2313-7673\/8\/3\/291\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:06:34Z","timestamp":1760126794000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2313-7673\/8\/3\/291"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,5]]},"references-count":28,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2023,7]]}},"alternative-id":["biomimetics8030291"],"URL":"https:\/\/doi.org\/10.3390\/biomimetics8030291","relation":{},"ISSN":["2313-7673"],"issn-type":[{"type":"electronic","value":"2313-7673"}],"subject":[],"published":{"date-parts":[[2023,7,5]]}}}