A Review of Locomotion, Control, and Implementation of Robot Fish

Jian, Xinyu; Zou, Ting

doi:10.1007/s10846-022-01726-w

Cited by 19 publications

(6 citation statements)

References 172 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In contrast, underwater, snakes generate movement by pushing against the water, similar to the swimming motion of eels. The large amplitude body bend undulations in eels, which allow at least one full wavelength to be transferred along their entire body while swimming, result in minimal yaw moment and a tendency for recoil, providing low swimming speed and excellent maneuverability [30]. Studies have indicated that the motion pattern of eels can be generalized as a sinusoidal traveling wave from head to tail with a constant amplitude [13,15,31,32].…”

Section: Biomimetic Locomotion and Mechanismmentioning

confidence: 99%

Design and architecture of a slender and flexible underwater robot

Wang,

Song,

Liu

et al. 2024

Intel Serv Robotics

View full text Add to dashboard Cite

This paper presents the design and analysis of a biomimetic underwater snake-like robot, addressing the main limitations of current underwater robotic systems in terms of maneuverability and adaptability in complex environments. The innovative design incorporates flexible joint modules that significantly enhance the robot’s ability to navigate through narrow and irregular terrains, which is a notable limitation in traditional rigidly connected underwater robots. These flexible joints provide increased degrees of freedom and enable the robot to absorb and release energy, ensuring stability even under external impacts, thus extending the operational lifespan of the robot. Finite element analysis demonstrates the flexible joints’ superior performance in various underwater conditions, offering a greater range of motion and workspace compared to rigid connections. The results indicate that the robot’s modular design, combined with the flexible joint module, leads to improved agility and maneuverability, allowing for precise and intentional operation. The control module, equipped with advanced sensors and a CPU, manages the complex dynamics introduced by the flexible joints, ensuring effective navigation and operation. The specific advantages of this design include the robot’s enhanced structural integrity, its ability to conform to irregular surfaces, and its adaptability to environmental variations. The paper concludes with a discussion on the implications of these findings for the future design and operation of underwater serpentine robots, emphasizing the need for a balance between the effects of elastic modulus and workspace to maximize the benefits of flexible joints.

show abstract

Section: Biomimetic Locomotion and Mechanismmentioning

confidence: 99%

Design and architecture of a slender and flexible underwater robot

Wang,

Song,

Liu

et al. 2024

Intel Serv Robotics

View full text Add to dashboard Cite

show abstract

“…The third is a curve that is an extension of a sin curve (the top plot in Fig. 8(c)) [14]. This expression, h f (x), can be written as follows:…”

Section: Prototype Results Of Plain Modelmentioning

confidence: 99%

A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution

Yoshikawa

Shimizu

Umedachi

2023

Preprint

View full text Add to dashboard Cite

This paper proposes a method to deform a continuum robot into a complex shape with distributed curvature using a single motor drive. This continuum robot can be deformed to a desired shape by placing tendon guides at appropriate intervals. We used several target shapes, including clothoid and sin curves, as well as a circular curve of constant curvature and confirmed that the deformed shapes match them both in the simulation and prototype. This paper proposes two models of continuum robots. One is the Plain Model in which the tendons are parallel to the rod and the Penetration Model in which the tendon penetrates to the rod. By placing the penetrating position(s), this continuum robot can be deformed into a shape with inflection point(s). We designed a mathematical model to simulate the deformed shape of the prototype to obtain the proper placement of the guides and penetration point(s). Through the optimization, it was able to find the parameters that, in most cases, result in the error of less than 4% between the target and deformed shapes. We applied these conditions to the prototype and evaluated the errors, which were approximately 10%, the same as the related works that use a conventional constant curvature model. We think that the results of this paper can be applied to reduce the number of actuators required and the size and weight of continuum or biomimetic robots.

show abstract

“…These robots have the potential to aid in tasks such as exploration, monitoring, and rescue missions and contribute to the understanding of the biomechanics of aquatic animals. The use of soft actuators is a promising approach for constructing bio-inspired underwater robots ( Aracri et al, 2021 ; Jian and Zou, 2022 ; Wang R. et al, 2023 ; Li et al, 2023 ) because robots with biological and simple structures can be realized. Researchers have proposed several soft underwater robots based on various soft actuators made of materials such as ionic polymer-metal composites ( Takagi et al, 2006 ; Aureli et al, 2010 ), lead zirconate titanate ( Shintake et al, 2010 ; Xing et al, 2023 ), shape memory alloys ( Villanueva et al, 2011 ; Coral et al, 2018 ), fluidic elastomer actuators ( Katzschmann et al, 2018 ; Nguyen and Ho, 2022 ), and dielectric elastomer actuators ( Shintake et al, 2018 ; Li et al, 2021 ).…”

Section: Introductionmentioning

confidence: 99%

Silicone-layered waterproof electrohydraulic soft actuators for bio-inspired underwater robots

Shibuya,

Watanabe,

Shintake

2024

Front. Robot. AI

View full text Add to dashboard Cite

Electrohydraulic soft actuators are a promising soft actuation technology for constructing bio-inspired underwater robots owing to the features of this technology such as large deformations and forces, fast responses, and high electromechanical efficiencies. However, this actuation technology requires high voltages, thereby limiting the use of these actuators in water and hindering the development of underwater robots. This paper describes a method for creating bio-inspired underwater robots using silicone-layered electrohydraulic soft actuators. The silicone layer functions as an insulator, enabling the application of high voltages underwater. Moreover, bending and linear actuation can be achieved by applying the silicone layers on one or both sides of the actuator. As a proof of concept, bending and linear actuators with planar dimensions of 20 mm × 40 mm (length × width) are fabricated and characterized. Underwater actuation is observed in both types of actuators. The bending actuators exhibit a bending angle and blocked force of 39.0° and 9.6 mN, respectively, at an applied voltage of 10 kV. Further, the linear actuators show a contraction strain and blocked force of 6.6% and 956.1 mN, respectively, at an applied voltage of 10 kV. These actuators are tested at a depth near the surface of water. This ensured that they can operate at least at that depth. The actuators are subsequently used to implement various soft robotic devices such as a ray robot, a fish robot, a water-surface sliding robot, and a gripper. All of the robots exhibit movements as expected; up to 31.2 mm/s (0.91 body length/s) of locomotion speed is achieved by the swimming robots and a retrieve and place task is performed by the gripper. The results obtained in this study indicate the successful implementation of the actuator concept and its high potential for constructing bio-inspired underwater robots and soft robotics applications.

show abstract

A Review of Locomotion, Control, and Implementation of Robot Fish

Cited by 19 publications

References 172 publications

Design and architecture of a slender and flexible underwater robot

Design and architecture of a slender and flexible underwater robot

A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution

Silicone-layered waterproof electrohydraulic soft actuators for bio-inspired underwater robots

Contact Info

Product

Resources

About