Development of a Low-Cost Bio-Inspired Swimming Robot (SRob) with IoT

Abstract

Now-a-days, exploring underwater is a difficult activity to do and requires specialized equipment to explore it. Many studies so far have proven that bio-inspired robotic fish such as stingray robots have many advantages for use as underwater exploration. One of them is the manta ray which can show excellent swimming ability by flapping the pectoral fins with large amplitude. By studying the movement behavior of genus Mobula, the development of biomimetic robots has grown exponentially in recent years. But this technology requires expensive development costs, and the prototypes produced are heavy. Therefore, the development of low-cost bio-inspired Swimming Robot (SRob) using embedded controller with internet of things (IOT) is proposed and presented in this paper. SRob is designed with a small size and lightweight compared to other conventional swimming robots and is well equipped with 6 servo motors, ADXL335 accelerometer 3-axis, 2 Lipo batteries 7.4V, ESP01 Wi-Fi module and Arduino Mega. The RemoteXY app that works like a remote control will be connected to the Arduino Mega using the ESP01 Wi-Fi module to control servo motors and obtain readings of the sensors. Based on the experimental results, the servo motor used to produce flapping motion can be controlled precisely while producing a large amplitude of motion. In addition, the position control for the compact SRob can be realized and determined correctly while swimming in the water.

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“…Several studies on remotely operated vehicles (ROVs) for maritime research have recently been published [10][11][12][13][14]. In offshore sectors, such as oil and gas, marine structures, marine sciences, naval security, marine renewable energy, and research reasons, ROVs have been employed for underwater intervention, repair, and maintenance activities.…”