Performance of Very Small Robotic Fish Equipped with  CMOS Camera

Zhao, Yang; Fukuhara, Masaaki; Usami, Takahiro; Takada, Yogo

doi:10.3390/robotics4040421

Cited by 6 publications

(3 citation statements)

References 12 publications

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“…SoFi can be created at different scales, but its swimming behavior depends on its size. Smaller robotic fish can barely overcome ocean currents and need external power (68), whereas larger robotic fish are more difficult to prototype and to handle by a diver. SoFi can currently swim up to 0.51 body lengths per second, which is comparable to other robotic fish prototypes (69,70) but still leaves room to improve toward real fish capabilities of 2 to 10 body lengths per second (71,72).…”

Section: Limitations and Future Stepsmentioning

confidence: 99%

Exploration of underwater life with an acoustically controlled soft robotic fish

et al. 2018

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Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in their natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic vertical diving. This work builds on previous generations of robotic fish that were restricted to one plane in shallow water and lacked remote control. Experimental results gathered from tests along coral reefs in the Pacific Ocean show that the robotic fish can successfully navigate around aquatic life at depths ranging from 0 to 18 meters. Furthermore, our robotic fish exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design that can potentially facilitate a more natural integration into the ocean environment. We believe that our study advances beyond what is currently achievable using traditional thruster-based and tethered autonomous underwater vehicles, demonstrating methods that can be used in the future for studying the interactions of aquatic life and ocean dynamics.

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Section: Limitations and Future Stepsmentioning

confidence: 99%

Exploration of underwater life with an acoustically controlled soft robotic fish

et al. 2018

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“…The central part of the tip of the tail fin is made softer than others. [11] The tail fin is connected to the main body by two joints [12][13] and each joint drives independently. COMET can bend the tail fin by up to 90 degree by these two joints.…”

Section: = − (1)mentioning

confidence: 99%

Small Robotic Fish with Two Magnetic Actuators for Autonomous Tracking of a Goldfish

2019

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In this study, we describe a palm-sized robotic fish that can automatically track a goldfish. A robotic fish is suitable for ecological surveys because it is difficult to be noticed by aquatic animals. However, so far, there is no palm-sized robotic fish that can automatically track an aquatic animal. Automatic tracking by the robot is carried out by recognizing the goldfish with a camera and changing the swimming direction towards the goldfish. To follow the agile movement of the goldfish, the robot has a high turning ability with multiple joints. Finally, we have confirmed the robot can track a goldfish.

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“…It could be marine, underwater and supermarine usage, research of water parameters [42], geodetic situation [24], biological resources [20,43], monitoring and control of engineering structures [6,44]. The same absence of permanent energy source makes aerial robots highly sought after in similar fields: monitoring the Earth's surface and scanning the dangerous environments [38].…”

Section: Introductionmentioning

confidence: 99%

Bioenergy Based Power Sources for Mobile Autonomous Robots

et al. 2018

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This paper presents the problem of application of modern developments in the field of bio-energy for the development of autonomous mobile robots' power sources. We carried out analysis of biofuel cells, gasification and pyrolysis of biomass. Nowadays, very few technologies in the bioenergy field are conducted with regards to the demands brought by robotics. At the same time, a number of technologies, such as biofuel cells, have now already come into use as a power supply for experimental autonomous mobile robots. The general directions for research that may help to increase the efficiency of power energy sources described in the article, in case of their use in robotics, are also presented.

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Performance of Very Small Robotic Fish Equipped with CMOS Camera

Cited by 6 publications

References 12 publications

Exploration of underwater life with an acoustically controlled soft robotic fish

Exploration of underwater life with an acoustically controlled soft robotic fish

Small Robotic Fish with Two Magnetic Actuators for Autonomous Tracking of a Goldfish

Bioenergy Based Power Sources for Mobile Autonomous Robots

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