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On-line Access: 2022-01-26

Received: 2021-06-15

Revision Accepted: 2021-08-06

Crosschecked: 0000-00-00

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Jin-rong WANG


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Journal of Zhejiang University SCIENCE A 2022 Vol.23 No.1 P.14-26


A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish

Author(s):  Jin-rong WANG, Yong-xin XI, Chen JI, Jun ZOU

Affiliation(s):  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   junzou@zju.edu.cn

Key Words:  Fish kinematics, Adhesive locomotion mechanism, Fin rays motion, Climbing model, Bio-inspired robot

Jin-rong WANG, Yong-xin XI, Chen JI, Jun ZOU. A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish[J]. Journal of Zhejiang University Science A, 2022, 23(1): 14-26.

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author="Jin-rong WANG, Yong-xin XI, Chen JI, Jun ZOU",
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publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish
%A Jin-rong WANG
%A Yong-xin XI
%A Chen JI
%A Jun ZOU
%J Journal of Zhejiang University SCIENCE A
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%@ 1673-565X
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2100280

T1 - A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish
A1 - Jin-rong WANG
A1 - Yong-xin XI
A1 - Chen JI
A1 - Jun ZOU
J0 - Journal of Zhejiang University Science A
VL - 23
IS - 1
SP - 14
EP - 26
%@ 1673-565X
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A2100280

Using a unique adhesive locomotion system, the rock-climbing fish (Beaufortia kweichowensis) adheres to submerged surfaces and crawls both forwards and backwards in torrential streams. To emulate this mechanism, we present a biomimetic robot inspired by the locomotion model of the rock-climbing fish. The prototype contains two anisotropic adhesive components with linkages connected to a linear actuator. Each anisotropic adhesive component consists of one commercial sucker and two retractable bioinspired fin components. The fin components mimic the abduction and adduction of pectoral and pelvic fins through the retractable part to move up and down. The robot prototype was tested on vertical and inverted surfaces, and worked successfully. These results demonstrate that this novel system represents a new locomotion solution for surface movement without detachment from the substrate.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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