Computational study on a squid-like underwater robot with two undulating side fins

Rahman, M.M. Hafizur; Toda, Yasuyuki; Miki, Hiroshi

doi:10.1016/s1672-6529(11)60003-6

Cited by 37 publications

(15 citation statements)

References 7 publications

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“…A crab-like robot has been created by Chen et al [8]. A squid-like underwater robot with two undulating side fins has been constructed and tested by Rahman et al [9]. This robot was designed based on the median and paired fin (MPF) movement, which uses the undulating side fin for propulsion and mimics a squid.…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in the near future.

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Section: Literature Reviewmentioning

confidence: 99%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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“…A crab-like robot has been created by Chen, et al [8]. A squid-like Underwater Robot with Two Undulating Side Fins has been constructed and tested by Rahman, et al [9]. This robot was designed based on the Median and Paired Fin (MPF) movement, which uses the undulating side fin for propulsion mimicking the squid.…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Kashem¹,

Jawed²,

Ahmed³

et al. 2019

Preprint

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Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal's gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water.The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot's four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

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“…As relevant to the specified requirements in oceanic exploration, a series of robotic fin prototypes have been designed to mimic evolutionary wave-like locomotion [5]- [12]. Figure 2.…”

Section: Prototype Of Biorobotic Undulating Finsmentioning

confidence: 99%

“…Many biologically inspired robots have been proposed and developed during the past few years. As a typical case, biomimetic undulating fins (see, for example, [5]- [12]) have gained valuable inspiration in terms of higher efficiency, greater manoeuvring or stabilization and better state-keeping at low speeds from the fish, which generally swim using undulations of their long-based ribbon fins. Typical undulating fin prototypes are shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

“…Selected robotic undulating fin prototypes: (a) a knifefish (black ghost) inspired robot with single bottom undulating fin, which was developed by MacIver et al at Northwestern University, USA, adapted from [6]; (b) a squid inspired underwater robot with two undulating side fins, developed by Toda et al at Osaka University of Japan, adapted from [12] Several approaches have been employed to investigate biomimetic undulations. These include analytical models [13], [14] and more recently numerical simulations [6], [15]- [17], and prototype design and experiments [5]- [10], [12], [15], [18]- [20]. These undulating fins were expected to effectively complement conventional underwater propellers in the above-mentioned performance aspects.…”

Section: Introductionmentioning

confidence: 99%

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Evaluating the Fin-Ray Trajectory Tracking of Bio-Inspired Robotic Undulating Fins via an Experimental-Numerical Approach

Xiang

Zhou

et al. 2014

International Journal of Advanced Robotic Systems

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In the past decade, biomimetic undulating fin propulsion has been one of the main topics considered by scientists and researchers in the field of robotic fish. This technology is inspired by the biological wave-like propulsion of ribbon-finned fish. The swimming modes have aquatic application potentials with greater manoeuvrability, less detectable noise or wake and better efficiency at low speeds. The present work concentrates on the evaluation of fin-ray trajectory tracking of biorobotic undulating fins at the levels of kinematics and hydrodynamics by using an experimental-numerical approach. Firstly, fin-ray tracking inconsistence between the desired and actual undulating trajectories is embodied with experimental data of the fin prototype. Next, the dynamics' nonlinearity is numerically and analytically unveiled by using the computational fluid dynamics (CFD) method, from the viewpoint of vortex shedding and the hydro-effect. The evaluation of fin-ray tracking performance creates a good basis for control design to improve the fin-ray undulation of prototypes.

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Computational study on a squid-like underwater robot with two undulating side fins

Cited by 37 publications

References 7 publications

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Evaluating the Fin-Ray Trajectory Tracking of Bio-Inspired Robotic Undulating Fins via an Experimental-Numerical Approach

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