Modeling the dynamics of spring-driven oscillating-foil propulsion

Harper, Karen A.; Berkemeier, M.D.; Grace, Sheryl M.

doi:10.1109/48.701206

Cited by 123 publications

(62 citation statements)

References 19 publications

(32 reference statements)

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“…적합한 것으로 알려져 있다 [31,32] . [25][26][27] . 특히 Motomu Nakashima 외 [27] 는 조인트가 2개 있는 물고기로봇의 간 략화 된 운동 방정식을 제시하였고, Tuong Quan Vo 외 …”

Section: Tokai University 및 National Maritime Researchunclassified

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Kang¹

2011

The Journal of Korea Robotics Society

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A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins. . 따라서, 군사적 감시활동, 해 저탐사 [5] , 수중환경 감시, 생태학적 연구 등의 수중 임무 수행을 위한 차세대 수중 운행체 [6] 를 개발하기 위한 방 편으로 물고기 모방 로봇을 개발하기 위한 많은 연구들이 이루어지고 있다. 1994년에 개발된 MIT의 RobotTuna [7] 를 시작으로 많은 물고기 모방 로봇들이 개발되었다.RobotTuna의 뒤를 이어 RoboPike 자율 수중 운행체라고 할 수 있다 [9,10] . 이 외에도 California Institute of Technology [11] , University of California San Diego 및 Northeastern University [12] , University of California Berkley [13] , Essex University [14] , Tokai University 및 National Maritime Research Institute (NMRI) [15] , Peking University [16] , 서울대학교 [29] , 건국대학교 [17,22] , 충주대학교 [18] , Institute Technology Bandung [19] , 울산대학교 [28] 등에서 물고기 로봇 관련 연 구들이 이루어지고 있다.

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Section: Tokai University 및 National Maritime Researchunclassified

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Kang¹

2011

The Journal of Korea Robotics Society

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“…Compliance in the flippers reduces the energy required to generate thrust [22]. The flippers used by Aqua are made of stainless steel rods with a cover of nylon fabric [17].…”

Section: Design Approachmentioning

confidence: 99%

Ninja legs: Amphibious one degree of freedom robotic legs

Dey

Manjanna

Dudek

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we propose a design of a class of robotic legs (known as "Ninja legs") that enable amphibious operation, both walking and swimming, for use on a class of hexapod robots. Amphibious legs equip the robot with a capability to explore diverse locations in the world encompassing both those that are on the ground as well as underwater. In this paper we work with a hexapod robot of the Aqua vehicle family (based on a body plan first developed by Buehler et al. [1]), which is an amphibious robot that employs legs for amphibious locomotion. Many different leg designs have been previously developed for Aqua-class vehicles, including both robust all-terrain legs for walking, and efficient flippers for swimming. But the walking legs have extremely poor thrust for swimming and the flippers are completely unsuitable for terrestrial operations. In this work we propose a single leg design with the advantages of both the walking legs and the swimming flippers. We design a cage-like circular enclosure for the flippers in order to protect the flippers during terrestrial operations. The enclosing structure also plays the role of the walking legs for terrestrial locomotion. The circular shape of the enclosure, as well, has the advantages of an offset wheel. We evaluate the performance of our design for terrestrial mobility by comparing the power efficiency and the physical speed of the robot equipped with the newly designed legs against that with the walking legs which are semi-circular in shape. The swimming performance is examined by measuring the thrust generated by newly designed legs and comparing the same with the thrust generated by the swimming flippers. In the field, we also verified that these legs are suitable for swimming through moderate surf, walking through the breakers on a beach (and thus through slurry), and onto wet and dry sand.

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“…Primarily, the dynamic equations of robot must be derived. So far, various attempts on mathematical modelling of fish robots including hydrodynamic forces acting on the fins and dynamic behaviour of fish robot have been done such as Lighthill (1970), Harper et al (1998), Morgansen (2003), Yu et al (2006) and Xu and Niu (2011). However, fishes have different mechanical structure and, therefore, each one of them could have their own dynamic equations.…”

Section: Introductionmentioning

confidence: 99%

Efficiency-based optimisation of a 2-DOF robotic fish model

Masoomi

Gutschmidt

Chen

et al. 2013

IJBBR

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Abstract:One of the most attractive swimming characteristics of fishes is their efficient propulsion. In order to fully understand the kinematic, dynamic and fluid dynamic relationships that determine a high efficient fish, a mathematical model needs to be developed and analysed. Accordingly, in this paper, a fish robot with two degrees of freedom (DOF) is modelled. The robot's dynamic equations of motion are presented and discussed. And the constant parameters of the equations are optimised using particle swarm optimisation (PSO) algorithm. Finally, the effects of optimised and non-optimised parameters on the robot behaviour is observed and analysed.

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Modeling the dynamics of spring-driven oscillating-foil propulsion

Cited by 123 publications

References 19 publications

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Ninja legs: Amphibious one degree of freedom robotic legs

Efficiency-based optimisation of a 2-DOF robotic fish model

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