Full Text:   <56>

Summary:  <18>

Suppl. Mater.: 

CLC number: 

On-line Access: 2022-10-20

Received: 2022-06-26

Revision Accepted: 2022-08-11

Crosschecked: 2022-10-21

Cited: 0

Clicked: 156

Citations:  Bibtex RefMan EndNote GB/T7714


Zhiguo HE


Pengcheng JIAO


-   Go to

Article info.
Open peer comments

Journal of Zhejiang University SCIENCE A 2022 Vol.23 No.10 P.820-831


Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method

Author(s):  Yang YANG, Yingzhong LOU, Guanzheng LIN, Zhiguo HE, Pengcheng JIAO

Affiliation(s):  Hainan Institute, Zhejiang University, Sanya 572000, China; more

Corresponding email(s):   hezhiguo@zju.edu.cn, pjiao@zju.edu.cn

Key Words:  Underwater vehicle, Computational fluid dynamics (CFD), Robotics, Transient driving method (TDM), Combustion actuation, Hydrodynamics

Yang YANG, Yingzhong LOU, Guanzheng LIN, Zhiguo HE, Pengcheng JIAO. Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method[J]. Journal of Zhejiang University Science A, 2022, 23(10): 820-831.

@article{title="Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method",
author="Yang YANG, Yingzhong LOU, Guanzheng LIN, Zhiguo HE, Pengcheng JIAO",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method
%A Yang YANG
%A Yingzhong LOU
%A Guanzheng LIN
%A Zhiguo HE
%A Pengcheng JIAO
%J Journal of Zhejiang University SCIENCE A
%V 23
%N 10
%P 820-831
%@ 1673-565X
%D 2022
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200331

T1 - Hydrodynamics of high-speed robots driven by the combustion-enabled transient driving method
A1 - Yang YANG
A1 - Yingzhong LOU
A1 - Guanzheng LIN
A1 - Zhiguo HE
A1 - Pengcheng JIAO
J0 - Journal of Zhejiang University Science A
VL - 23
IS - 10
SP - 820
EP - 831
%@ 1673-565X
Y1 - 2022
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2200331

underwater vehicles play important roles in underwater observation, ocean resource exploration, and sample collection. Soft robots are a unique type of underwater vehicles due to their good environmental adaptability and motion flexibility, although they are weak in terms of actuation and response ability. The transient driving method (TDM) was developed to resolve these shortcomings. However, the interaction between the robots’ swift motions and flow fields has not yet been fully studied. In this study, a computational fluid dynamic model is developed to simulate the fluid fields disturbed by transient high-speed motions generated by the robots. Focusing on the dependence of robot dynamics on thrust force and eccentricity, typical structures of both flow and turbulence fields around the robots are obtained to quantitatively analyze robot kinematic performance, velocity distribution, vortex systems, surface pressure, and turbulence. The results demonstrate the high-speed regions at the robots’ heads and tails and the vortex systems due to sudden expansion, indicating a negative relationship between the maximum fluid velocity and eccentricity. The reported results provide useful information for studying the environmental interaction abilities of robots during operating acceleration and steering tasks.


机构:1浙江大学,海南研究院,中国三亚,572000;2浙江大学,港口海岸与近海工程研究所,中国舟山,316021;3华盛顿大学,土木工程学院,美国西雅图,WA 98195;4浙江大学,海洋感知技术与装备教育部工程研究中心,中国舟山,316021;5香港中文大学,电子工程系,中国香港,99907


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


[1]BaiXJ, ShangJZ, LuoZR, et al., 2022. Development of amphibious biomimetic robots. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 23(3):‍157-187.

[2]BartlettNW, TolleyMT, OverveldeJTB, et al., 2015. A 3D-printed, functionally graded soft robot powered by combustion. Science, 349(6244):161-165.

[3]CalistiM, PicardiG, LaschiC, 2017. Fundamentals of soft robot locomotion. Journal of the Royal Society Interface, 14(130):20170101.

[4]ChenH, ZhuCA, YinXZ, et al., 2007. Hydrodynamic analysis and simulation of a swimming bionic robot tuna. Journal of Hydrodynamics, 19(4):412-420.

[5]ChuWS, LeeKT, SongSH, et al., 2012. Review of biomimetic underwater robots using smart actuators. International Journal of Precision Engineering and Manufacturing, 13(7):‍1281-1292.

[6]GrissomMD, ChitrakaranV, DiennoD, et al, 2006. Design and experimental testing of the OctArm soft robot manipulator. Proceedings of SPIE 6230, Unmanned Systems Technology VIII, p.62301F.

[7]HamedAM, VegaJ, LiuB, et al., 2017. Flow around a semicircular cylinder with passive flow control mechanisms. Experiments in Fluids, 58(3):22.

[8]HeZG, YangY, JiaoPC, et al., 2022. Copebot: underwater soft robot with copepod-like locomotion. Soft Robotics, 0158:1-13.

[9]HuWQ, LumGZ, MastrangeliM, et al., 2018, Small-scale soft-bodied robot with multimodal locomotion. Nature, 554(7690):81-85.

[10]KeithlyD, WhiteheadJ, VoineaA, et al., 2018. A cephalopod-inspired combustion powered hydro-jet engine using soft actuators. Extreme Mechanics Letters, 20:1-8.

[11]LaunderBE, SpaldingDB, 1974. The numerical computation of turbulent flows. Computer Methods in Applied Mechanics and Engineering, 3(2):269-289.

[12]LeeC, KimM, KimYJ, et al., 2017. Soft robot review. International Journal of Control, Automation and Systems, 15(1):3-15.

[13]LiGR, ChenXP, ZhouFH, et al., 2021. Self-powered soft robot in the Mariana trench. Nature, 591(7848):66-71.

[14]LiH, GoG, KoSY, et al., 2016. Magnetic actuated pH-responsive hydrogel-based soft micro-robot for targeted drug delivery. Smart Materials and Structures, 25(2):027001.

[15]LiTF, LiGR, LiangYM, et al., 2016. Review of materials and structures in soft robotics. Chinese Journal of Theoretical and Applied Mechanics, 48(4):‍756-766 (in Chinese).

[16]LinGZ, YangY, HeZG, et al., 2022. Hydrodynamic optimization in high-acceleration underwater motions using added-mass coefficient. Ocean Engineering, 263:112274.

[17]LoepfeM, SchumacherCM, LustenbergerUB, et al., 2015. An untethered, jumping roly-poly soft robot driven by combustion. Soft Robotics, 2(1):33-41.

[18]LouYZ, HeZG, JiangHS, et al., 2019. Numerical simulation of two coalescing turbulent forced plumes in linearly stratified fluids. Physics of Fluids, 31:037111.

[19]MajidiC, ShepherdRF, KramerRK, et al., 2013. Influence of surface traction on soft robot undulation. The International Journal of Robotics Research, 32(13):1577-1584.

[20]NajemJ, SarlesSA, AkleB, et al., 2012. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators. Smart Materials and Structures, 21(9):094026.

[21]RendaF, Giorgio-SerchiF, BoyerF, et al., 2015. Locomotion and elastodynamics model of an underwater shell-like soft robot. Proceedings of the IEEE International Conference on Robotics and Automation, p.1158-1165.

[22]RusD, TolleyMT, 2015. Design, fabrication and control of soft robots. Nature, 521(7553):467-475.

[23]ShepherdRF, StokesAA, FreakeJ, et al., 2013. Using explosions to power a soft robot. Angewandte Chemie International Edition, 52(10):2892-2896.

[24]SoomroAM, MemonFH, LeeJW, et al., 2021. Fully 3D printed multi-material soft bio-inspired frog for underwater synchronous swimming. International Journal of Mechanical Sciences, 210:106725.

[25]SuzumoriK, EndoS, KandaT, et al., 2017. A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. Proceedings of IEEE International Conference on Robotics and Automation, p.4975-4980.

[26]TrivediD, RahnCD, KierWM, 2008. Soft robotics: biological inspiration, state of the art, and future research. Applied Bionics and Biomechanics, 5(3):99-117.

[27]UmedachiT, VikasV, TrimmerBA, 2013. Highly deformable 3-D printed soft robot generating inching and crawling locomotions with variable friction legs. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, p.4590-4595.

[28]VillanuevaA, SmithC, PriyaS, 2011. A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators. Bioinspiration & Biomimetics, 6(3):036004.

[29]WangG, SongYJ, TangWS, et al., 2019. A numerical simulation analysis on bionic robot fish based on computational fluid dynamics (CFD) method. Journal of Nanoelectronics and Optoelectronics, 14(3):400-407.

[30]WangHP, YangY, LinGZ, et al., 2021. Untethered, high-speed soft jumpers enabled by combustion for motions through multiphase environments. Smart Materials and Structures, 30(1):015035.

[31]WigunaT, HeoS, ParkHC, et al., 2006. Mechanical design of biomimetic fish robot using LIPCA as artificial muscle. Key Engineering Materials, 326-328:1443-1446.

[32]YagmurS, DoganS, AksoyMH, et al., 2020. Turbulence modeling approaches on unsteady flow structures around a semi-circular cylinder. Ocean Engineering, 200:107051.

[33]YangY, HouBZ, ChenJY, et al., 2020. High-speed soft actuators based on combustion-enabled transient driving method (TDM). Extreme Mechanics Letters, 37:100731.

Open peer comments: Debate/Discuss/Question/Opinion


Please provide your name, email address and a comment

Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2022 Journal of Zhejiang University-SCIENCE