SurferBot: a wave-propelled aquatic vibrobot

Rhee, Eugene P.; Hunt, Robert L.; Thomson, Stuart; Harris, Daniel M.

doi:10.1088/1748-3190/ac78b6

Cited by 10 publications

(16 citation statements)

References 59 publications

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“…Using linear quasipotential flow theory, coupled with the equations of motion for an oscillating raft, we have demonstrated how the raft propels itself forward using its own waves. The close agreement between our linear model and the experimental data of SurferBot (Rhee et al 2022) indicates that we have captured the key physics at play for this self-propelling centimetre-scale robot. Nevertheless, there are several further improvements to the model that are worth discussing.…”

Section: Discussion and Perspectivessupporting

confidence: 68%

“…We begin this section by exploring the numerical results of our model, demonstrating that it satisfies a momentum balance. We then consider a specific application of our model to SurferBot (Rhee et al 2022) comparing our results directly with experimental data. 3.1.…”

Section: Model Results Validation and Application To Surferbotmentioning

confidence: 99%

“…A perhaps lesser-known propulsion mechanism is enacted by honeybees (Apis mellifera) trapped on the surface of water: in oscillating its wings, the bee generates a fore-aft asymmetric wave field that contributes to forward motion (Roh & Gharib 2019). Inspired by the stricken honeybee, Rhee et al (2022) designed SurferBot: a centimetre-scale interfacial robot that achieves wave-driven locomotion speeds of around 1 cm s −1 by inducing asymmetric vibrations with a small eccentric-mass motor mounted on SurferBot's back. Wave-driven propulsion may also be realized by designing floating bodies with mass-and/or geometric-asymmetries that generate thrust and torques by exchanging momentum with waves generated by the object as it oscillates on the free surface of a globally vibrating fluid bath (Barotta et al 2023;Ho et al 2023;Oza et al 2023).…”

Section: Introductionmentioning

confidence: 99%

“…Based on classical results (Longuet-Higgins & Stewart 1964;Longuet-Higgins 1977), the prevailing opinion is that the thrust necessary to drive locomotion originates from an asymmetric radiation of wave momentum (Rhee et al 2022;Ho et al 2023;Oza et al 2023). A scaling argument for two-dimensional wave-driven propulsion (i.e.…”

Section: Introductionmentioning

confidence: 99%

“…Propulsion is demonstrated in the form of a constant drift speed that results from a time-averaged thrust force due to the oscillations. We compare our predictions for the wave field and raft motion with the experimental data of SurferBot (Rhee et al 2022), and then use our model to optimize the efficiency of propulsion by varying the frequency of vibrational forcing and the position at which the forcing is applied. Some possible extensions and applications of our model to insect locomotion and competitive water sports are discussed in conclusion.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

On wave-driven propulsion

Benham,

Devauchelle,

Thomson

2024

J. Fluid Mech.

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A theory is presented for wave-driven propulsion of floating bodies driven into oscillation at the fluid interface. By coupling the equations of motion of the body to a quasipotential flow model of the fluid, we derive expressions for the drift speed and propulsive thrust of the body which in turn are shown to be consistent with global momentum conservation. We explore the efficacy of our model in describing the motion of SurferBot (Rhee et al., Bioinspir. Biomim., vol. 17, issue 5, 2022), demonstrating close agreement with the experimentally determined drift speed and oscillatory dynamics. The efficiency of wave-driven propulsion is then computed as a function of driving oscillation frequency and the forcing location, revealing optimal values for both of these parameters which await confirmation in experiments. A comparison with other modes of locomotion and applications of our model with competitive water sports is discussed in conclusion.

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Section: Discussion and Perspectivessupporting

confidence: 68%

Section: Model Results Validation and Application To Surferbotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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On wave-driven propulsion

Benham,

Devauchelle,

Thomson

2024

J. Fluid Mech.

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Undulatory Propulsion at Milliscale on Water Surface

Ren,

Ucak,

Yan

et al. 2024

Advanced Science

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The oscillatory pitch motion at the leading edge of a millimeter‐scale flexible sheet on the water surface can generate undulatory locomotion for swimming, similar to a honeybee vibrating its wings for propulsion. The influence of various parameters on such swimming strategy remains unexplored. This study uses magnetic milliswimmers to probe the propulsion mechanics and impact of different parameters. It is found that this undulatory propulsion is driven by capillary forces and added mass effects related to undulatory waves of the milliswimmers, along with radiation stress stemming from capillary waves at the interface. Modifying the parameters such as actuation frequency, pitch amplitude, bending stiffness, and hydrofoil length alters the body waveform, thus, affecting the propulsion speed and energy efficiency. Although undulatory motion is not a prerequisite for water surface propulsion, optimizing body stiffness to achieve a proper undulatory waveform is crucial for efficient swimming, balancing energy consumption, and speed. The study also reveals that the induced water flow is confined near the water surface, and the flow structures evolve with varying factors. These discoveries advance the understanding of undulatory water surface propulsion and have implications for the optimal design of small‐scale swimming soft robots in the future.

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Bidirectional wave-propelled capillary spinners

Barotta¹,

Thomson²,

Alventosa³

et al. 2023

Commun Phys

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When a solid body floats at the interface of a vibrating liquid bath, the motion of the object generates outwardly propagating surface waves. We here demonstrate that chiral objects on a vibrating fluid interface are set into steady rotation, with the angular speed and direction of rotation controlled by the interplay between object geometry and driving parameters. Scaling laws and a simplified model of the wavefield reveal the underlying physical mechanism of rotation, while collapsing measurements of the angular velocity across parameters. Leveraging the control over the chiral object’s direction of rotation, we demonstrate that a body with an asymmetric mass distribution and chirality can be remotely steered along two-dimensional trajectories via modulation of the driving frequency. This accessible and tunable macroscopic system serves as a potential platform for explorations of chiral active and driven matter, and demonstrates a mechanism by which wave-mediated forces can be manipulated for directed propulsion.

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SurferBot: a wave-propelled aquatic vibrobot

Cited by 10 publications

References 59 publications

On wave-driven propulsion

On wave-driven propulsion

Undulatory Propulsion at Milliscale on Water Surface

Bidirectional wave-propelled capillary spinners

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