Cooperative Optimal Collision Avoidance Laws for a Hybrid-Tailed Robotic Fish

Sunkara, Vishwamithra; Chakravarthy, Animesh; Yi, Xiongfeng; Zuo, Wenyu; Chen, Zheng

doi:10.1109/tcst.2019.2910478

Cited by 22 publications

(5 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Finally, the length of the fish including the tail was around 27 cm, and the weight was about 180 g. It could reach a forward speed of up to 45 BL/s (12 cm/s) and turning speed up to 40 deg/s. In the same year, a collision cone approach was adopted to solve the problem of autonomous cruise of bionic robot fish [ 62 ]. Using a Lyapunov-based approach, analytical expressions of nonlinear energy- optimal guidance laws for cooperative collision avoidance are determined.…”

Section: Bcfmentioning

confidence: 99%

A Review of Robotic Fish Based on Smart Materials

Zhao

Ding

et al. 2023

Biomimetics

View full text Add to dashboard Cite

The present study focuses on summarizing the recent advancements in the field of fish swimming mode research and bionic robotic fish prototypes based on smart materials. It has been widely acknowledged that fish exhibit exceptional swimming efficiency and manoeuvrability compared to conventional underwater vehicles. In the pursuit of developing autonomous underwater vehicles (AUVs), conventional experimental methods often prove to be complex and expensive. Hence, the utilization of computer simulations for hydrodynamic modelling provides a cost-effective and efficient approach for analysing the swimming behaviour of bionic robotic fish. Additionally, computer simulations can provide data that are difficult to obtain through experimental methods. Smart materials, which integrate perception, drive, and control functions, are increasingly being applied to bionic robotic fish research. However, the utilization of smart materials in this field is still an area of ongoing research and several challenges remain unresolved. This study provides an overview of the current state of research on fish swimming modes and the development of hydrodynamic modelling. The application of four distinct types of smart materials in bionic robotic fish is then reviewed, with a focus on analysing the advantages and disadvantages of each material in driving swimming behaviour. In conclusion, the paper highlights the key technical challenges that must be addressed for the practical implementation of bionic robotic fish and provides insights into the potential future directions of this field.

show abstract

Section: Bcfmentioning

confidence: 99%

A Review of Robotic Fish Based on Smart Materials

Zhao

Ding

et al. 2023

Biomimetics

View full text Add to dashboard Cite

show abstract

“…In the application of biomimetic fish, IPMC is usually used for the design of actuating components such as caudal fin, pectoral fin, and so on. Yi and Sunkara et al have carried out a series of studies on the application of IPMC in caudal fin propelled fish [146,147] . By controlling the motion mode of IPMC, the robotic fish can realize swimming forward and turning motion.…”

Section: Bionic Robotsmentioning

confidence: 99%

A comprehensive survey of ionic polymer metal composite transducers: preparation, performance optimization and applications

2023

Soft Sci

View full text Add to dashboard Cite

Ionic polymer metal composite (IPMC) transducers, as one of the typical electroactive polymers with excellent electromechanical coupling properties, have tremendous potential to achieve high-performance actuators and sensors for flexible electronic and soft robotics. In this survey, after briefly describing the energy conversion mechanism of IPMC, we divided the history of IPMC into three stages based on the published papers, and then introduced the preparation technologies of IPMC in detail, which mainly include the selection of ionomer membrane and formation of electrodes. From the point of view of optimization, we summarized and analyzed the performance improvement methods of IPMC and the problems when it is used as actuators and sensors, respectively. The latest and typical applications of IPMC are widely presented as actuators and sensors, such as actuation in robots, grippers, medical and wearable devices, underwater perception and energy harvesting. Moreover, the challenges and opportunities of IPMC were envisioned for future prosperity. This survey will provide an overall general outline for the categorization, mechanism, precursors, and preparation methods of IPMC, which is helpful in facilitating the rapid development and application of IPMC.

show abstract

“…The BAUVs propel themselves by similar oscillations tail or undulatory body of dolphin/fish or by jet propulsion like squid, scallop, and jellyfish [1]. They are showing superior performance in enhanced maneuverability, lesser impact on marine life and energy economy when compared with conventional propeller-powered UUVs [2][3][4][5]. However, most biomimetic underwater robots are discrete mechanisms constructed from a series of rigid links and joints with limited adaptability [6][7][8][9], suffering from reduced internal mechanical efficiencies mostly because of frictional losses [10] and lack of compliant motions of the flexible swimming body.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a novel tendon-driven continuum robotic dolphin

Liu¹,

Zhang²,

Liu³

et al. 2021

Bioinspir. Biomim.

View full text Add to dashboard Cite

In this paper, a novel continuum robotic dolphin termed 'ConRoDolI' is proposed and developed. The biomimetic robot features dual tendon driving continuum mechanisms that are utilized to replicate the twisting and bending motions of the dolphin's caudal vertebrae and thoracic vertebrae. More importantly, a central pattern generator based kinematics is analyzed to yield stable dolphin-like swimming. In the meantime, the relationship between the backbone shape and both the tendon length as well as position and orientation are explored. Furthermore, multimodal swimming gaits are designed to pave the way for a three-dimensional (3D) swimming decoupling solution, involving forwarding swimming, multiple yaw patterns, and multiple pitch patterns. All of these endow the robotic dolphin with 3D maneuverability. Finally, extensive experiments demonstrate the feasibility of the proposed biomimetic mechatronic design and control approach. The forward swimming speed is 0.44 body lengths per second (BL/s). The steering radius of the robot is about 0.11 BL with an angular velocity of 10 • /s and the diving speed is about 0.13 BL/s. The average propulsion efficiency is about 0.6 with the maximum is over 0.8. The obtained results shed light on the improvement of aquatic maneuverability associated with new-concept underwater vehicles.

show abstract

Cooperative Optimal Collision Avoidance Laws for a Hybrid-Tailed Robotic Fish

Cited by 22 publications

References 18 publications

A Review of Robotic Fish Based on Smart Materials

A Review of Robotic Fish Based on Smart Materials

A comprehensive survey of ionic polymer metal composite transducers: preparation, performance optimization and applications

Design and analysis of a novel tendon-driven continuum robotic dolphin

Contact Info

Product

Resources

About