FILOSE for Svenning: A Flow Sensing Bioinspired Robot

Kruusmaa, Maarja; Fiorini, Paolo; Megill, William; Vittorio, Massimo De; Akanyeti, Otar; Visentin, Francesco; Chambers, Lily D.; Daou, Hadi El; Fiazza, Maria-Camilla; Ježov, Jaas; Listak, Madis; Rossi, Lorenzo; Salumäe, Taavi; Toming, Gert; Venturelli, R.; Jung, David Samuel; Brown, Jennifer; Rizzi, Francesco; Qualtieri, Antonio; Maud, J L; Liszewski, Andrew

doi:10.1109/mra.2014.2322287

Cited by 65 publications

(60 citation statements)

References 29 publications

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“…Note that in [17] it was shown that the joint coordinates exponentially track the reference coordinates given by (16).…”

Section: Inner-loop Controllermentioning

confidence: 96%

“…The function g(i, n) is a scaling function for the joint amplitude along the body. It allows (16) to describe a quite general class of sinusoidal functions. For instance, the choice g(i, n) = 1 gives lateral undulation, and g(i, n) = (n−i)/(n+1) gives eel-like motion.…”

Section: B Motion Patternmentioning

confidence: 99%

“…In order to make the joint angle φ i follow its reference signal φ * i given by (16), a PD controller is used: u i = k p (φ where k p > 0 and k d > 0 are the gains of the controller. Note that in [17] it was shown that the joint coordinates exponentially track the reference coordinates given by (16).…”

Section: Inner-loop Controllermentioning

confidence: 99%

“…The radius of acceptance for each waypoint was set to r accept = 0.8 m and the ILOS path following controller was implemented according to (16) - (19). The gains for the control system were chosen as follows: k p = 20, k d = 5 and k θ = 0.5.…”

Section: A Implementation Of the Guidance Strategy With The Control-mentioning

confidence: 99%

“…Both cases did not consider ocean currents. Experimental results of a fish robot tracking a closed trajectory in the presence of a current were presented in [16]. However, no theoretical analysis of the control system was provided.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Waypoint guidance control for underwater snake robots exposed to ocean currents

Kelasidi

Kohl

Pettersen

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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Abstract-This paper presents a waypoint guidance strategy for underwater snake robots, which is an extension of the straight line path following controllers previously proposed by the authors. The proposed waypoint guidance control enables an underwater snake robot to converge towards and follow a desired path compensating for disturbances due to ocean currents effects. The ocean currents are constant and irrotational, and with unknown magnitude and direction. A set of waypoints is chosen along the desired path which is then defined by interconnecting these waypoints by straight lines. Simulation results for both lateral undulation and eel-like motion illustrate the performance of the guidance strategy.

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“…Note that in [17] it was shown that the joint coordinates exponentially track the reference coordinates given by (16).…”

Section: Inner-loop Controllermentioning

confidence: 96%

Section: B Motion Patternmentioning

confidence: 99%

Section: Inner-loop Controllermentioning

confidence: 99%

Section: A Implementation Of the Guidance Strategy With The Control-mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Waypoint guidance control for underwater snake robots exposed to ocean currents

Kelasidi

Kohl

Pettersen

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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Selective Stiffening in Soft Actuators by Triggered Phase Transition of Hydrogel‐Filled Elastomers

Visentin

Babu

Meder

et al. 2021

Adv Funct Materials

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Nature has inspired a new generation of robots that not only imitate the behavior of natural systems but also share their adaptability to the environment and level of compliance due to the materials used to manufacture them, which are typically made of soft matter. In order to be adaptable and compliant, these robots need to be able to locally change the mechanical properties of their soft material‐based bodies according to external feedback. In this work, a soft actuator that embodies a highly controllable thermo‐responsive hydrogel and changes its stiffness on direct stimulation is proposed. At a critical temperature, this stimulation triggers the reversible transition of the hydrogel, which locally stiffens the elastomeric containment at the targeted location. By dividing the actuator into multiple sections, it is possible to control its macroscopic behavior as a function of the stiffened sections. These properties are evaluated by arranging three actuators into a gripper configuration used to grasp objects. The results clearly show that the approach can be used to develop soft actuators that can modify their mechanical properties on‐demand in order to conform to objects or to exert the required force.

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Development of a Chemically Driven Biomimetic Modular Artificial Muscle (BiMAM)

Nagwade

Kang

Park

et al. 2023

Advanced Intelligent Systems

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Human skeletal muscle is widely considered to be the most efficient actuator, leading to extensive research on developing artificial muscles. Bioinspired technologies such as soft robotics and biomimetics are used to produce artificial muscles with performance characteristics similar to those of their biological counterpart. Despite the complexity of human skeletal muscle, advanced engineering materials and unique approaches can help develop an artificial muscle that replicates its kinematic motions. Herein, biomimetic modular artificial muscle (BiMAM), which is the culmination of different design strategies, is presented, and fabrication methods aimed at developing this BiMAM. This chemically driven modular artificial muscle uses shape memory alloy coated with nanomaterials and nano‐catalysts. Herein, a high‐energy density fuel is employed to actuate this artificial muscle, enabling fast and efficient outputs. Multiple performance characteristics are determined by conducting controlled experiments. Various methods are demonstrated to control the fuel‐based valve system and the actuation of the chemically driven artificial muscle. Lastly, to evaluate its functionality, the curling movement of a robotic finger using BiMAM is demonstrated.

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FILOSE for Svenning: A Flow Sensing Bioinspired Robot

Cited by 65 publications

References 29 publications

Waypoint guidance control for underwater snake robots exposed to ocean currents

Waypoint guidance control for underwater snake robots exposed to ocean currents

Selective Stiffening in Soft Actuators by Triggered Phase Transition of Hydrogel‐Filled Elastomers

Development of a Chemically Driven Biomimetic Modular Artificial Muscle (BiMAM)

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