Dynamic Modeling of a Robotic Fish Propelled by a Compliant Tail

Kopman, Vladislav; Laut, Jeffrey; Acquaviva, Francesco; Rizzo, Alessandro; Porfiri, Maurizio

doi:10.1109/joe.2013.2294891

Cited by 108 publications

(80 citation statements)

References 52 publications

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“…6a-c, we compare mean thrust results with the classical Lighthill's slender body theory (Lighthill 1971), which has been often used in the literature on robotic fish to estimate thrust production (Aureli et al 2010;Chen et al 2010;Kopman et al 2015;Tan et al 2010). Following (Facci and Porfiri 2013), this theory can be applied to estimate the mean thrust as…”

Section: Thrust Estimationmentioning

confidence: 99%

“…6a-c, we note that Lighthill's slender body theory is accurate in predicting thrust production in the mid-plane, while it largely overestimates experimental results toward the edges. For each experimental trial, consisting of a given combination of the tail beat frequency and thickness of the joint and a select measurement plane, the thrust production is utilized to compute the coefficient of thrust, defined in (Kopman et al 2015) as…”

Section: Thrust Estimationmentioning

confidence: 99%

“…(1), A t ¼ L t d f max = 6.9 9 10 -4 m 2 , and v t ð Þ ¼ Asin 2pft ð Þ is the lateral fin tip displacement, neglecting the effect of the tail flexibility. This equation is adapted and simplified from (Kopman et al 2015) for the case of straight swimming, neglecting the angle of attack and the body dynamic motions of yaw and sway. This equation should be considered as a first approximation of the tail beat undulation of live animals (Gazzola et al 2014).…”

Section: Swimming Experimentsmentioning

confidence: 99%

“…Existing designs have explored multi-linked tails actuated by several servomotors (Hu 2006;Phamduy et al 2015;Yu et al 2004), single servomotors with compliant caudal fins Kopman et al 2015;Wang and Tan 2013), smart materials (Aureli et al 2010;Cen and Erturk 2013;Chen et al 2010;Rossi et al 2011), and fluidic soft actuators (Marchese et al 2014). However, due to the utilization of commercially available microcontrollers, batteries, or actuators, these free-swimming robotic fish are often several tens of centimeters in length, ranging from 13 to 46 cm (Aureli et al 2010;Chen et al 2010;Hu 2006;Kopman et al 2015;Marchese et al 2014;Phamduy et al 2015;Yu et al 2004). The creation of miniature free-swimming robotic fish, of few centimeters in size, presents a number of technical challenges, especially with regards to the need of housing an on-board power source and enclosing the electronics in a waterproof compartment.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Phamduy

Vazquez

Kim

et al. 2017

Int J Intell Robot Appl

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Research in animal behavior is increasingly benefiting from the field of robotics, whereby robots are being continuously integrated in a number of hypothesis-driven studies. A variety of robotic fish have been designed after the morphophysiology of live fish to study social behavior. Of the current design factors limiting the mimicry of live fish, size is a critical drawback, with available robotic fish generally exceeding the size of popular fish species for laboratory experiments. Here, we present the design and testing of a novel free-swimming miniature robotic fish for animal-robot studies. The robotic fish capitalizes on recent advances in multi-material three-dimensional printing that afford the integration of a range of material properties in a single print task. This capability has been leveraged in a novel design of a robotic fish, where waterproofing and kinematic functionalities are incorporated in the robotic fish. Particle image velocimetry is leveraged to systematically examine thrust production, and independent experiments are conducted in a water tunnel to evaluate drag. This information is utilized to aid the study of the forward locomotion of the robotic fish, through reduced-order modeling and experiments. Swimming efficiency and turning maneuverability is demonstrated through target experiments. This robotic fish prototype is envisaged as a tool for animal-robot interaction studies, overcoming size limitations of current design.

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Section: Thrust Estimationmentioning

confidence: 99%

Section: Thrust Estimationmentioning

confidence: 99%

Section: Swimming Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Phamduy

Vazquez

Kim

et al. 2017

Int J Intell Robot Appl

Self Cite

View full text Add to dashboard Cite

show abstract

“…Regarding the applications, the underlying hydrodynamic principles also inspire researchers to develop advanced equipment involving the interactions of unsteady flows and deformable bodies. Recently, the robotic models of fish swimming have been of great interest in ocean engineering, and a wide diversity of approaches have been taken for the mechanical design of fish-inspired systems [9][10][11], such as a carangiform fish robot [12,13] and a batoid-inspired robot [14][15][16]. Besides the active flow control mechanisms used in bionic propulsion, passive flapping or vibrating dynamics have also been applied in developing renewable energy harvesters, which are usually based on compliant materials, such as elastic-mounted cylinders and piezoelectric membranes [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Coupling Motion and Energy Harvesting of Two Side-by-Side Flexible Plates in a 3D Uniform Flow

2016

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Abstract:The fluid-structure interaction problems of two side-by-side flexible plates with a finite aspect ratio in a three-dimensional (3D) uniform flow are numerically studied. The plates' motions are entirely passive under the force of surrounding fluid. By changing the aspect ratio and transverse distance, the coupling motions, drag force and energy capture performance are analyzed. The mechanisms underlying the plates' motion and flow characteristics are discussed systematically. The adopted algorithm is verified and validated by the simulation of flow past a square flexible plate. The results show that the plate's passive flapping behavior contains transverse and spanwise deformation, and the flapping amplitude is proportional to the aspect ratio. In the side-by-side configuration, three distinct coupling modes of the plates' motion are identified, including single-plate mode, symmetrical flapping mode and decoupled mode. The plate with a lower aspect ratio may suffer less drag force and capture less bending energy than in the isolated situation. The optimized selection for obtaining higher energy conversion efficiency is the plate flapping in single-plate mode, especially the plate with a higher aspect ratio. The findings of this work provide several new physical insights into the understanding of fish schooling and are expected to inspire the developments of underwater robots or energy harvesters.

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3D‐Assembled Bionic Tactile Sensing “Skin” for Soft Machines

Zhang,

Chen,

Wang

et al. 2024

Advanced Sensor Research

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Soft machines such as bionic soft robotics attract tremendous interest. Environmental awareness between the “skin” of robotics and the contact surface is essential for motion control. Contact sensing requires not only bionic tactile perception but also high adaptability to their skin's soft nature. However, most tactile sensors can only measure normal pressure and are not adapted to large‐area soft surfaces. Here, a multi‐directional bionic tactile sensing “skin” (MBT‐Skin) for soft machines is developed. The skin can detect pressure and friction simultaneously with its 3D structure. Through curvature‐controlled transfer printing and multi‐step 3D assembly, multiple 3D structures with a small size (1.4 mm × 1.2 mm × 4 mm) are fabricated efficiently. The sensor possesses high sensitivity (P: −0.013N−1; f: 0.036 N−1), good linearity (P: R2 = 0.990; f: R2 = 0.999), and robust repeatability (≈1000). For MBT‐Skin, stretchable interconnections are designed to adapt to the large skin deformation of soft machines. It is mounted on a soft snake‐like cylinder and detects multi‐direction force mimicking tactile perception during soft robotics movement. The results show that MBT‐Skin is capable of detecting pressure and friction with minimal interference from machine bending, which demonstrates its potential future applications in environmental awareness for bionic soft robotics.

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Dynamic Modeling of a Robotic Fish Propelled by a Compliant Tail

Cited by 108 publications

References 52 publications

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Coupling Motion and Energy Harvesting of Two Side-by-Side Flexible Plates in a 3D Uniform Flow

3D‐Assembled Bionic Tactile Sensing “Skin” for Soft Machines

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