Maneuverability of a robotic tuna with compliant body
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MADOI: 10.1109/ROBOT.2008.4543284 Conference: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Source: IEEE Xplore
The maneuvering performance of a robotic device designed to mimic the swimming motions of Thunniform swimmers is presented. In contrast to existing designs, this design achieves fish like locomotion through the use of a single actuator and a compliant body and tail. Experiments were performed using both biased swimming motions and coasted turns. During these experiments the Compliant Robotic Tuna (CRT) achieved steady swimming speeds of up to 0.37 body lengths/second, average turning rates of up to 12.6 degrees per second, and turning radii as low as 1 body length. In addition, this paper compares the measured maneuvering performance with the predictions of a simplified rigid body model that was derived using both theoretical and empirical techniques. The swimming motions studied in this paper were achieved using open loop mechanisms. Therefore the potential for performance improvements exists.
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ABSTRACT: Variable stiffness actuation and energy harvesting have been important yet separate challenges in robotics. Both functions are needed, however, for mobile robots on extended missions when actuators and generators must be used together. In this paper, we present a unique piezoelectric cellular system that combines motion generation and energy harvesting capabilities into a single, scalable device. Each of the discrete cellular units provides linear, contractile motion at 10% strain using the converse piezoelectric effect. These units may also be back-driven from environmental loading and thereby generate energy using the direct piezoelectric effect. Furthermore, each cell has the capability to toggle between a low stiffness ON state and a high stiffness OFF state, which allows an assembly of individual cells to tune both their static stiffness and structural resonant frequencies online. We demonstrate the effectiveness of our device for tuning both locomotion speed and the harvested power of an underwater flapping fin system.IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010; 01/2010
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ABSTRACT: In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on; 10/2010
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