An Autonomous Robotic Fish for Mobile Sensing

Tan, Xiaobo; Kim, D.; Usher, N.; Laboy, D.; Jackson, Joseph A.; Kapetanovic, A.; Rapai, J.; Sabadus, B.; Zhou, Xin

doi:10.1109/iros.2006.282110

Cited by 134 publications

(90 citation statements)

References 20 publications

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“…While some of these applications can employ propeller-based robots, in others fin-based locomotion potentially offers better maneuverability, less noise and less disruption of the environment. In such devices, often termed robotic fish [22], fin movements are typically achieved with either small motors [4,6,21,23] or deformation of electroactive polymers [3]. For instance, Chen et al [3] demonstrated that a carangiform (that is, propulsion primarily generated by a caudal fin) robotic fish can successfully navigate the surface of water with a single actuator.…”

Section: Introductionmentioning

confidence: 99%

Evolution of station keeping as a response to flows in an aquatic robot

Moore

Clark

McKinley

2013

Proceedings of the 15th Annual Conference on Genetic and Evolutionary Computation

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Developing complex behaviors for aquatic robots is a difficult engineering challenge due to the uncertainty of an underwater environment. Neuroevolution provides one method of dealing with this type of problem. Artificial neural networks discern different conditions by mapping sensory input to responses, and evolutionary computation provides a training algorithm suitable to the high dimensionality of the problem. In this paper, we present results of applying neuroevolution to an aquatic robot tasked with station keeping, that is, maintaining a given position despite surrounding water flow. The virtual device exposed to evolution is modeled after a physical counterpart that has been fabricated with a 3D printer and tested in physical environments. Evolved behaviors exhibit a variety of unexpected, complex fin/flipper movements that enable the robot to achieve and maintain station, despite water flow from different directions. Moreover, the results show that evolved controllers are able to effectively carry out this task using only information from a simulated accelerometer and gyroscope, matching the inertial measurement unit (IMU) on the actual robot.

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Section: Introductionmentioning

confidence: 99%

Evolution of station keeping as a response to flows in an aquatic robot

Moore

Clark

McKinley

2013

Proceedings of the 15th Annual Conference on Genetic and Evolutionary Computation

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“…Examples include rigid plates or tensegrity structures actuated by servo-motors (Gao et al, 2007;Moored et al, 2008;Moored & Bart-Smith, 2009;Zhou & Low, 2012) and flexible membrane actuated by shape memory alloy (SMA) (Wang et al, 2009). However, these methods are not suitable for smallscale robots (on the order of 5-10 cm) (Shahinpoor, 1992;Mojarrad & Shahinpoor, 1996;Tan et al, 2006;Guo et al, 2003;Punning et al, 2004) because of either the limitations in scaling or high power consumption. To construct a free swimming and small-scale robotic manta ray, there is a need for a bio-inspired actuating material that is lightweight, compliant, resilient, and capable of generating 3 dimensional (3D) deformations with portable power consumption.…”

Section: Introduction To Bio-inspired Robotic Manta Raymentioning

confidence: 99%

“…To construct a free swimming and small-scale robotic manta ray, there is a need for a bio-inspired actuating material that is lightweight, compliant, resilient, and capable of generating 3 dimensional (3D) deformations with portable power consumption. In the past, IPMC actuators have been used as a caudal fin in bio-inspired robotic fishes (Shahinpoor, 1992;Mojarrad & Shahinpoor, 1996;Tan et al, 2006;Guo et al, 2003), where the propulsive fin mimics the bending motion observed in many biological fishes. In the propulsion mechanism of rays, undulatory and oscillatory flapping motions of the pectoral fin play an important role in generating highly efficient propulsion and maneuvering (Rosenberger, 2001).…”

Section: Introduction To Bio-inspired Robotic Manta Raymentioning

confidence: 99%

Ionic Polymer-Metal Composite Artificial Muscles in Bio-Inspired Engineering Research: Underwater Propulsion

Chen¹,

Um²,

Bart‐Smith³

2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…Several interesting and unique types of robots have mimetics for the recent decades [1,2]. Particularly, a fishlike underwater robot is one of these categories.…”

Section: Introduction 1)mentioning

confidence: 99%

Implementation of Underwater Entertainment Robots Based on Ubiquitous Sensor Networks

Shin¹,

Na²,

Kim³

et al. 2009

The KIPS Transactions:PartA

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We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users' demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.

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An Autonomous Robotic Fish for Mobile Sensing

Cited by 134 publications

References 20 publications

Evolution of station keeping as a response to flows in an aquatic robot

Evolution of station keeping as a response to flows in an aquatic robot

Ionic Polymer-Metal Composite Artificial Muscles in Bio-Inspired Engineering Research: Underwater Propulsion

Implementation of Underwater Entertainment Robots Based on Ubiquitous Sensor Networks

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