Intelligent control method of robot based on angle of attack feedback for energy efficiency optimization

Aquatic organisms can sense the flow state and adjust the attack angle in time, thereby maintaining the highest movement efficiency during the periodic flapping process. The biological caudal fin, accompanied by changes in tail stiffness, depends on the contraction/relaxation of tail muscles. In the interaction with external fluid, attack angle adjustment helps organisms maintain the optimal attack angle during the movement to improve propulsion performance. Inspired by this, an intelligent control method for high-speed movement of bionic robots based on attack angle feedback was proposed. Firstly, the kinematic characteristics of the designed robotic dolphin was analyzed to clarify the hardware basis of the algorithm. Secondly, in view of the problem that the caudal fin motor cannot effectively cooperate with the lumbar joint motor during high-frequency movement, a joint angle control algorithm based on fuzzy reasoning was proposed to realize the tracking of the expected joint angle by the caudal fin joint in the torque mode. In addition, a closed-loop control scheme for the caudal joint based on attack angle feedback was proposed to improve movement performance. Finally, the experiments verify the effectiveness of the proposed motion control scheme.