Biomimetic design of dorsal fins for AUVs to enhance maneuverability

Triantafyllou, Michael; Winey, Nastasia; Trakht, Yuri.; Elhassid, Raz; Yoerger, D.

doi:10.1088/1748-3190/ab6708

Cited by 17 publications

(20 citation statements)

References 16 publications

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“…It should be noted, however, that the mere presence of the rudder increases the stability index of the vehicle, and the effect of this increase may be typically larger than the increment of the turning moment it provides, so the overall effect on maneuverability is often negative. This property is well documented [9][10][11], and theoretically as well as experimentally proved in this paper.…”

Section: Introductionsupporting

confidence: 78%

Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs

Randeni¹,

Mellin²,

Sacarny³

et al. 2022

Bioinspir. Biomim.

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By adopting bioinspired morphing fins, we demonstrate how to achieve good directional stability, exceptional maneuverability, and minimal adverse response to turbulent flow, properties that are highly desirable for rigid hull AUVs, but are presently difficult to achieve because they impose contradictory requirements. We outline the theory and design for switching between operating with sufficient stability that ensures a steady course in the presence of disturbances, with low corrective control action; reverting to high maneuverability to execute very rapid course and depth changes, improving turning rate by 25% up to 50%; and ensuring at all times that angular responses to external turbulence are minimized. We then demonstrate the developments through tests on a 1 m long autonomous underwater vehicle, named Morpheus. The vehicle is capable of dynamically changing its stability-maneuverability qualities by using tuna-inspired morphing fins, which can be deployed, deflected and retracted, as needed. A series of free-swimming experiments and maneuvering simulations, combined with mathematical analysis, led to the design of optimal retractable morphing fins.

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Section: Introductionsupporting

confidence: 78%

Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs

Randeni¹,

Mellin²,

Sacarny³

et al. 2022

Bioinspir. Biomim.

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“…Compared to forward locomotion and turning in the horizontal plane, few examples of artificial fins for maneuvering can be found in the literature. Rigid fins acting as paddles with a single degree of freedom that produces the roll movement in an autonomous underwater vehicle are presented in previous studies [1,2]. Another study used a rigid anal fin for improving yaw stability [3].…”

Section: Introductionmentioning

confidence: 99%

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Coral¹,

Rossi²

2022

Bioinspir. Biomim.

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Fish has served as model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper we present our work on 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of life fish have been designed and tested that generate lateral thrusts whose purpose is to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization in the forward motion to the robot. These fins are composed of Shape Memory Alloy wires (SMAs) embedded in silicone. We demonstrate that these fins are capable of providing a mean for 3D maneuvering. In this work we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact and waterproof.

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“…While computational advances have steadily enhanced artificial intelligence, the physical capabilities of robots have not been improved in the same measure. Biomimetics and robotics with more life-like capabilities (e.g., Fish 2020 ; Triantafyllou et al. 2020 ) could help accelerate locomotion capabilities of robots by offering a different perspective.…”

Section: Introductionmentioning

confidence: 99%

Body Caudal Undulation Measured by Soft Sensors and Emulated by Soft Artificial Muscles

Lunsford

Hong

Wiesemüller

et al. 2021

Integrative and Comparative Biology

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We propose the use of bio-inspired robotics equipped with soft sensor technologies to gain a better understanding of the mechanics and control of animal movement. Soft robotic systems can be used to generate new hypotheses and uncover fundamental principles underlying animal locomotion and sensory capabilities, which could subsequently be validated using living organisms. Physical models increasingly include lateral body movements, notably back and tail bending, which are necessary for horizontal plane undulation in model systems ranging from fish to amphibians and reptiles. We present a comparative study of the use of physical modeling in conjunction with soft robotics and integrated soft and hyperelastic sensors to monitor local pressures, enabling local feedback control, and discuss issues related to understanding the mechanics and control of undulatory locomotion. A parallel approach combining live animal data with biorobotic physical modeling promises to be beneficial for gaining a better understanding of systems in motion.

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Biomimetic design of dorsal fins for AUVs to enhance maneuverability

Cited by 17 publications

References 16 publications

Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs

Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Body Caudal Undulation Measured by Soft Sensors and Emulated by Soft Artificial Muscles

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