Development of an autonomous robotic fish

Alessi, Alessio; Sudano, Angelo; Accoto, Dino; Guglielmelli, Eugenio

doi:10.1109/biorob.2012.6290918

Cited by 12 publications

(16 citation statements)

References 14 publications

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“…To this end, a semi-analytical model, inspired by [47], will be implemented in order to obtain a computationally efficient tool for optimizing MAVERIC for specific applications. Furthermore, a VSA incorporating a MAVERIC is under development for the actuation of the spine of a robotic fish [49].…”

Section: Discussionmentioning

confidence: 99%

Design, Development and Scaling Analysis of a Variable Stiffness Magnetic Torsion Spring

Sudano

Accoto

Zollo

et al. 2013

International Journal of Advanced Robotic Systems

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In this paper we report on the design, modeling, experimental testing and scaling analysis of a novel MAgnetic Variable stiffnEess spRIng-Clutch (MAVERIC) device, which may be used as the elastic element of Variable Stiffness Actuators (VSAs). The device, comprising two co-axial diametrically magnetized hollow cylinders, has two degrees of freedom: a rotation of the two cylinders around the common axis and a relative translation along the same axis. For small rotations, the torque arising from the magnetic interaction of the two cylinders is almost linearly proportional to their relative rotation, as in mechanical torsion springs. In addition, the stiffness of the equivalent spring can be varied continuously from a maximum value down to exactly zero by changing the axial overlap of the two cylinders. In this way the proposed device can be used both as a clutch (i.e., perfectly compliant element) and as a variable stiffness torsion spring. A prototype, designed after magnetostatic FEM simulations, has been built and experimentally characterized. The developed MAVERIC has an experimentally determined maximum transmissible torque of 109.81 mN m, while the calculated maximum stiffness is 110.2 mN m rad −1 . The amplitude of the torque-angle characteristic can be tuned linearly with a sensitivity of 12.63 mN m mm −1 rad −1 . Further simulations have been computed parameterizing the geometry and the number of pole pairs of the magnets.The maximum torque density reached for one pole pair is 47.21 · 10 3 N m m −3 , whereas for a fixed geometry similar to that of the developed prototype, the maximum torque is reached for seven pole pairs. Overall, compared to mechanical springs, MAVERIC has no fatigue or overloading issues. Compared to other magnetic couplers, torsion stiffness can be varied continuously from a maximum value down to exactly zero, when the device acts as a disengaged clutch, disconnecting the load from the actuator.

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Section: Discussionmentioning

confidence: 99%

Design, Development and Scaling Analysis of a Variable Stiffness Magnetic Torsion Spring

Sudano

Accoto

Zollo

et al. 2013

International Journal of Advanced Robotic Systems

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“…In [19,40], a single servo motor is used in conjunction with a passive tail; in [41], a single electric motor is utilized but in a crankshaft configuration; various active materials are incorporated in prototypes, such as piezoelectrics [17], ionic polymer composites [18,23], and shape memory alloys [42]; a hydraulic system is proposed in [43]; and multiple servomotor and multi-linked designs are put forward in [16,20,36,44].…”

Section: A Robotic Fishmentioning

confidence: 99%

“…In the realm of biologically-inspired robotic fish that mimic complex locomotory patterns of live fish [16][17][18][19][20][21][22][23][24], the problem of autonomous charging is yet to be fully addressed [25][26][27][28][29]. Beyond laboratory [30][31][32] and field [33,34] applications requiring long-term deployment for animal behavior studies and environmental mapping, autonomous charging can greatly enhance informal science exhibits of robotic fish [26,29].…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Charging System for a Robotic Fish

Phamduy

Cheong

Porfiri

2016

IEEE/ASME Trans. Mechatron.

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“…The design implements a pitch control system similar to [26], whereby a known mass is shifted to change the center of gravity of the robotic fish. Unlike other robotic fish prototypes that employ the anal fin [27], pectoral fins [28], and glide wings [29] for 3-D swimming, the implementation with the balance mass decouples the mechanics of diving from the robotic fish cover.…”

Section: Pitch Controlmentioning

confidence: 99%

“…Unlike other robotic fish prototypes that employ the anal fin [27], pectoral fins [28], and glide wings [29] for 3-D swimming, the implementation with the balance mass decouples the mechanics of diving from the robotic fish cover. Herein, a tungsten mass is used rather than a battery pack as in [26] [see Figure 2(b)]. The pitch of the robotic fish is controlled using a Hitec HS-65MG servomotor, modified for continuous rotation by severing an internal physical stop connected to a 12-mm-diameter lead screw.…”

Section: Pitch Controlmentioning

confidence: 99%

Robotic Fish: Design and Characterization of an Interactive iDevice-Controlled Robotic Fish for Informal Science Education

Phamduy¹,

LeGrand²,

Porfiri

2015

IEEE Robot. Automat. Mag.

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I n this article, we present the design, development, and characterization of a biomimetic robotic fish remotely controlled by an iDevice application (app) for use in informal science education. By leveraging robots, biomimicry, and iDevices, we seek to establish an engaging and unique experience for free-choice learners visiting aquariums, zoos, museums, and other public venues. The robotic fish incorporates a three-degree-of-freedom tail along with a combined pitch and buoyancy control system, allowing for high maneuverability in an underwater three-dimensional (3-D) space. The iDevice app implements three modes of control that offer a vividly colored, intuitive, and user-friendly theme to enhance the user experience when controlling the biomimetic robotic fish. In particular, the implemented modes vary in the degree of autonomy of the robotic fish, from fully autonomous to remotely controlled. A series of tests are conducted to assess the performance of the robotic fish and the interactive control modes. Finally, a usability study on elementary school students is performed to learn about students' perception of the platform and the various control modes. Robotic Fish ExhibitsTechnology facilitates learning and expression in both academic and nonacademic environments [1], [2]. In particular, the use of robotics in university-level classes and museums has been shown to effectively excite and educate students and free-choice learners [3], [4]. In the context of underwater robotics, various robotic fish have been developed and displayed for the entertainment and education of the general public in exhibits at aquariums [5], expositions [6], and water gardens [7]. Although these robots have generated considerable interest from onlookers, none of the exhibits offered opportunities for people to directly interact with the robotic fish.Interactivity in exhibits is a crucial part of science learning in informal settings, whereby interactive components are recognized to improve subject retention and enhance both sociability and curiosity in participants [8], [9]. To this end, smart devices have become increasingly popular as a tool for enhancing education through the use of interactive applications [10], [11]. Young participants have been shown to prefer the use of smart devices over traditional mediums, and better educational outcomes are attained with this growing technology [12]. To actively engage participants, museums, galleries,

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Development of an autonomous robotic fish

Cited by 12 publications

References 14 publications

Design, Development and Scaling Analysis of a Variable Stiffness Magnetic Torsion Spring

Design, Development and Scaling Analysis of a Variable Stiffness Magnetic Torsion Spring

An Autonomous Charging System for a Robotic Fish

Robotic Fish: Design and Characterization of an Interactive iDevice-Controlled Robotic Fish for Informal Science Education

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