Biomimetic mechanical design for soft-bodied underwater vehicles

Fiazza, C.; Salumäe, Taavi; Listak, Madis; Kuļikovskis, Guntis; Templeton, Robert; Akanyeti, Otar; Megill, William; Fiorini, Paolo; Kruusmaa, Maarja

doi:10.1109/oceanssyd.2010.5603660

Cited by 16 publications

(11 citation statements)

References 14 publications

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“…This discipline is steeply growing, and from the seminal review paper of Trivedi et al (2008) the field was subject to several evolutions; to date, the most recent review paper on soft robotics (Rus and Tolley, 2015) identifies four possible application domains for soft robots: locomotion, manipulation, wearable, and soft cyborgs. This review agrees with our survey on the most relevant domains influenced by soft robotic, which identified three niches: (1) the terrestrial locomotion, where a great number of bio-inspired (Belanger et al, 2000;Mezoff et al, 2004;Lin et al, 2013;Umedachi et al, 2016) (inspired by worms, caterpillars, and their gaits) (Jayaram and Full, 2016) (insects) (Chrispell et al, 2013;Cicconofri and DeSimone, 2015) (snakes) or build from scratch robots (Kim et al, 2014;Li et al, 2016) are under development; (2) the underwater locomotion (Fiazza et al, 2010), mainly inspired by fishes (Clark et al, 2015), turtles (Song et al, 2016), crabs (Calisti et al, 2016), chephalopods (Arienti et al, 2013;Cianchetti et al, 2015), rays (Urai et al, 2015), or other aquatic animals; and (3) manipulation, either at the level of grippers (Manti et al, 2015;Fakhari et al, 2016;Shintake et al, 2016), arms Elango and Faudzi, 2015;Katzschmann et al, 2015;Deashapriya et al, 2016;Sun et al, 2016), or other devices (Deng et al, 2016).…”

Section: Scenarios Definitionsupporting

confidence: 88%

Contest-Driven Soft-Robotics Boost: The RoboSoft Grand Challenge

et al. 2016

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This paper reports the design process, the implementation, and the results of a novel robotic contest addressing soft robots, named RoboSoft Grand Challenge. Applicationoriented tasks were proposed in three different scenarios where soft robotics is particularly lively: manipulation, terrestrial, and underwater locomotion. Starting from about 60 expressions of interest submitted by international teams distributed across the world, 19 robots were eventually selected to participate in the challenge in two of the initially proposed scenarios, i.e., manipulation and terrestrial locomotion. Results highlight both the effectiveness and limitations of state of the art soft robots with respect to the selected tasks. The paper will also focus on some of the advantages and disadvantages of contests as technology-steering mechanisms, including what we called "reductionist design," a phenomenon in which simplistic solutions are devised to purposely tackle the proposed tasks, possibly hindering more general and desired technological advancements.

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Section: Scenarios Definitionsupporting

confidence: 88%

Contest-Driven Soft-Robotics Boost: The RoboSoft Grand Challenge

et al. 2016

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“…Fishes can create great propulsion forces due to their passive properties and interaction with the surrounding fluid [16]. Inspired by that, we developed a ray-mimicking soft prototype robot that explores the potential of a passive dynamic mechanism.…”

Section: Ray-mimicking Pectoral Finmentioning

confidence: 99%

Design and control of a ray-mimicking soft robot based on morphological features for adaptive deformation

Urai

Sawada

Hiasa

et al. 2015

Artif Life Robotics

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“…Consequently, significant research effort has been applied to mimicking biological propulsion systems, for example see DLVCUUV robotic tuna [37], robotic dolphin [38], Finnegan robotic turtle [39], and soft-bodied robot fish [40]. However, current actuator efficiencies mean that the electric motor and propeller combination still provides a comparable level of total propulsion system efficiency, with comparatively easy control and design [41].…”

Section: F Propulsor and Actuationmentioning

confidence: 99%

Nature in Engineering for Monitoring the Oceans (NEMO): An isopycnal soft bodied approach for deep diving autonomous underwater vehicles

Phillips

Blake

Boyd

et al. 2012

2012 IEEE/OES Autonomous Underwater Vehicles (AUV)

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Taking inspiration from nature the NEMOdeep vehicle described in this paper is being developed as a laboratory demonstrator to showcase potential technologies to achieve small deep diving autonomous underwater vehicles. The design of the vehicle is a hybrid of conventional AUV components with engineered analogues of marine animal organs. The internal structure is comprised of a spine, ribs and sternum, which support a hydrodynamic fairing or 'skin'. The 'brain' and actuators are developed using pressure tolerant electronics, negating the need for pressure vessels. The pressure tolerant electronics are surrounded by light mineral oil which transmits the hydrostatic pressure uniformly to the components while also providing buoyancy. The internal fluid is more compressible than seawater and the batteries and internal structure are less compressible than seawater: a 'Buoyancy/Compressibility' organ is being developed to passively maintain neutral buoyancy over the 0 to 6000m depth range.

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Biomimetic mechanical design for soft-bodied underwater vehicles

Cited by 16 publications

References 14 publications

Contest-Driven Soft-Robotics Boost: The RoboSoft Grand Challenge

Contest-Driven Soft-Robotics Boost: The RoboSoft Grand Challenge

Design and control of a ray-mimicking soft robot based on morphological features for adaptive deformation

Nature in Engineering for Monitoring the Oceans (NEMO): An isopycnal soft bodied approach for deep diving autonomous underwater vehicles

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