Comparing the turn performance of different motor control schemes in multilink fish-inspired robots

Abstract

Fish robots have many possible applications in exploration, industry, research, and continue to increase in design complexity, control, and the behaviors they can complete. Maneuverability is an important metric of fish robot performance, with several strategies being implemented. By far the most common control scheme for fish robot maneuvers is an offset control scheme, wherein the robot’s steady swimming is controlled by sinusoidal function and turns are generated biasing bending to one side or another. An early bio-inspired turn control scheme is based on the C-start escape response observed in live fish. We developed a control scheme that is based on the kinematics of routine maneuvers in live fish that we call the ‘pulse’, which is a pattern of increasing and decreasing curvature that propagates down the body. This pattern of curvature is consistent across a wide range of turn types and can be described with a limited number of variables. We compared the performance of turns using each of these three control schemes across a range of durations and bending amplitudes. We found that C-start and offset turns had the highest heading changes for a given set of inputs, whereas the bio-inspired pulse turns had the highest linear accelerations for a given set of inputs. However, pulses shift the conceptualization of swimming away from it being a continuous behavior towards it being an intermittent behavior that is built by combining individual bending events. Our bio-inspired pulse control scheme has the potential to increase the behavioral flexibility of bio-inspired robotic fish and solve some of the problems associated with integrating different swimming behaviors, despite lower maximal turning performance.

Effects of caudal fin stiffness on optimized forward swimming and turning maneuver in a robotic swimmer

“…Inspired by the swimming gait patterns and muscle activation sequences of biological fishes and robots (e.g. see [53,[56][57][58]), we designed the motor control program for turning maneuver of µBot as a series of square waves of varied time delays and intensity (figure 4). During stage 1, a uniform voltage (V 1 , bending voltage) was applied across all actuators, however, with incremental time delays of initiation (D i ) from the head of the robot to its caudal fin.…”

Steering characteristics and path following control of a bionic underwater vehicle with multiple locomotion modes

“…The asymmetrical turns are achieved by a series of local turns of the caudal fin. Besides, the unilateral asymmetrical pulse steering signal was proposed by Howe [24], which performed high linear accelerations during locomotion. Inspired by the steering characteristics of the natural fish, this article focuses on the steering capability investigation of the bionic underwater vehicle, and conducts an in-depth analysis of the sinusoidal offset signal and unilateral asymmetric pulse signal.…”