A bio-mimetic design and control of a fish-like robot using compliant structures

Daou, Hadi El; Salumäe, Taavi; Ristolainen, Asko; Toming, Gert; Listak, Madis; Kruusmaa, Maarja

doi:10.1109/icar.2011.6088645

Cited by 16 publications

(14 citation statements)

References 7 publications

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“…This simple design achieved biomimetic locomotion using only one servo motor, while most other robotic fish use several motors to achieve biomimetic modes of swimming. Daou et al used Alvarado's compliant body model to derive the relationship between an actuation moment and the resulting lateral deflection of a fish tail [11]. Several fish robots that use smart actuators to create undulating motion have also been investigated [12].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin

et al. 2012

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The compliance of a fin affects the thrust of underwater vehicles mimicking the undulatory motion of fish. Determining the optimal compliance of a fin to maximize thrust is an important issue in designing robotic fish using a compliant fin. We present a simple method to identify the condition for maximizing the thrust generated by a compliant fin propulsion system. When a fin oscillates in a sinusoidal manner, it also bends in a sinusoidal manner. We focus on a particular kinematic parameter of this motion: the phase difference between the sinusoidal motion of the driving angle and the fin-bending angle. By observing the relationship between the thrust and phase difference, we conclude that while satisfying the zero velocity condition, the maximum thrust is obtained when a compliance creates a phase difference of approximately π/2 at a certain undulation frequency. This half-pi phase delay condition is supported by thrust measurements from different compliant fins (four caudal-shaped fins with different aspect ratios) and a beam bending model of the compliant fin. This condition can be used as a guideline to select the proper compliance of a fin when designing a robotic fish.Index Terms-Compliant fin, flapping, flexible fin, flexible foil, half-pi phase delay, maximum thrust, pseudo-rigid-body model, robotic fish, underwater robot.

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Section: Introductionmentioning

confidence: 99%

Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin

et al. 2012

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“…23,24 Valdivia y Alvarado and Youcef-Toumi used a compliant body in the design of a robotic fish to mimic the swimming kinematics of a natural fish. 25 Similarly, the robot fish FILOSE 26,27 has a compliant posterior and serves as a test bed for fishlike sensing and locomotion. Both of these systems are cabledriven and actuated with an onboard servomotor but lack autonomy and require an external power supply.…”

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confidence: 99%

Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators

2014

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In this work we describe an autonomous soft-bodied robot that is both self-contained and capable of rapid, continuum-body motion. We detail the design, modeling, fabrication, and control of the soft fish, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot onboard: power, actuation, processing, and control. At the core of the fish's soft body is an array of fluidic elastomer actuators. We design the fish to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum-body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared with studies on biological fish. We show that during escape responses, the soft-bodied robot has similar input-output relationships to those observed in biological fish. The major implication of this work is that we show soft robots can be both self-contained and capable of rapid body motion.

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“…A soft-bodied octopuslike arm developed by Laschi et al demonstrated shortening, elongation and bending [13]. The robot fish FILOSE [14] [15] has a compliant posterior and demonstrated fishlike locomotion. Valdivia y Alvarado and Youcef-Toumi used a soft and compliant body in the design of a robotic fish to mimic the forward swimming kinematics of a real fish [16].…”

Section: Previous Workmentioning

confidence: 99%

Hydraulic Autonomous Soft Robotic Fish for 3D Swimming

Katzschmann

Marchese

Rus

2015

Springer Tracts in Advanced Robotics

199

118

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This work presents an autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions. The design of a fish-like soft body has been extended to deform under hydraulic instead of pneumatic power. Moreover, a new closed-circuit drive system that uses water as a transmission fluid is used to actuate the soft body. Circulation of water through internal body channels provides control over the fish's caudal fin propulsion and yaw motion. A new fabrication technique for the soft body is described, which allows for arbitrary internal fluidic channels, enabling a wide-range of continuous body deformations. Furthermore, dynamic diving capabilities are introduced through pectoral fins as dive planes. These innovations enable prolonged fish-like locomotion in three dimensions.

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A bio-mimetic design and control of a fish-like robot using compliant structures

Cited by 16 publications

References 7 publications

Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin

Kinematic Condition for Maximizing the Thrust of a Robotic Fish Using a Compliant Caudal Fin

Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators

Hydraulic Autonomous Soft Robotic Fish for 3D Swimming

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