Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Abstract

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization of procedures in food processing plants. However, modeling floating object movements can be complex, as their trajectories are influenced by various factors such as the object’s shape, size, mass, and the magnitude, frequency, and patterns of water waves. This study proposes an experimental investigation into the emergence ofrobotically controlled limit cycles in the movement of floating objects within a closed environment. The objects’ movements are driven by robot fins, and the experiment plan set up involves the use of up to four fins and variable motor parameters. By combining energy quantification of the system with an open-loop pattern generation, it is possible to demonstrate all main water-object interactions within the enclosed environment. A study using dynamic time warping around floating patterns gives insights on possible further studies.