Three-Dimensionally Maneuverable Robotic Fish Enabled by Servo Motor and Water Electrolyser

Zuo, Wenyu; Keow, Alicia; Chen, Zheng

doi:10.1109/icra.2019.8793870

Cited by 6 publications

(2 citation statements)

References 17 publications

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“…[230] Another technical difficulty of bionics is that the pressure inside the swim bladder of deep-sea fish is high, and once out of the water, the compressed gas is released and the swim bladder is swollen. Although some robots can achieve rising or sinking locomotion by altering the volume of gas or liquid in their bodies, [80,229,231,232] this approach requires some energy consumption to supply the pump, and is difficult to control. [233,234] The operation of traditional air or hydraulic pumps can also cause noise disturbances to the marine environment.…”

Section: Locomotion Patternmentioning

confidence: 99%

Recent Advances on Underwater Soft Robots

Qu,

Xu,

et al. 2023

Advanced Intelligent Systems

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The ocean environment has enormous uncertainty due to the influence of complex waves and undercurrents. The human beings are limited in their abilities to detect and utilize marine resources without powerful tools. Soft robots employ soft materials to simplify the complex mechanical structures in rigid robots and adapt their morphology to the environment, making them suitable for performing some challenging tasks in place of manual labor. Due to superior flexible and deformable bodies, underwater soft robots have played significant roles in numerous applications in recent decades. Meanwhile, various technical challenges still need to be tackled to ensure the reliability and practical performance of underwater soft robots in complicated ocean environment. Nowadays, some researchers have developed underwater soft robotic systems based on biomimetics and other disciplines, aiming at comprehensive exploration of ocean and appropriate utilization of unexploited resources. This review presents the recent advances of underwater soft robots in the aspects of intelligent soft materials, fabrication, actuation, locomotion patterns, power storage, sensing, control, and modeling; additionally, the existing challenges and perspectives are analyzed as well.

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Section: Locomotion Patternmentioning

confidence: 99%

Recent Advances on Underwater Soft Robots

Qu,

Xu,

et al. 2023

Advanced Intelligent Systems

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“…Zuo et al [22] combined a servo driven tail (1 DOF) with a compact water electrolyser as a buoyancy control device to achieve a 3D maneuverable fish robot. The 320 mm long robot had a weight of 0.8 kg and reached 0.13 m s −1 (0.4 BL s −1 ) forward velocity.…”

Section: A Short Review Of Aquatic Robotic Propulsion Systemsmentioning

confidence: 99%

A Design Concept and Kinematic Model for a Soft Aquatic Robot with Complex Bio-mimicking Motion

2022

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Fish mortality assessments for turbine passages are currently performed by live-animal testing with up to a hundred thousand fish per year in Germany. A propelled sensor device could act as a fish surrogate. In this context, the study presented here investigates the state of the art via a thorough literature review on propulsion systems for aquatic robots. An evaluation of propulsion performance, weight, size and complexity of the motion achievable allows for the selection of an optimal concept for such a fish mimicking device carrying the sensors. In the second step, the design of a bioinspired soft robotic fish driven by an unconventional drive system is described. It is based on piezoceramic actuators, which allow for motion with five degrees of freedom (DOF) and the creation of complex bio-mimicking body motions. A kinematic model for the motion’s characteristics is developed, to achieve accurate position feedback with the use of strain gauges. Optical measurements validate the complex deformation of the body and deliver the basis for the calibration of the kinematic model. Finally, it can be shown, that the calibrated model presented allows the tracking of the deformation of the entire body with an accuracy of 0.1 mm.

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