Proceedings ArticleDOI
A biorobotic flapping fin for propulsion and maneuvering
James L. Tangorra,George V. Lauder,Peter G. A. Madden,Rajat Mittal,Meliha Bozkurttas,Ian W. Hunter +5 more
- pp 700-705
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TLDR
A series of biorobotic fins developed based on the pectoral fin of the bluegill sunfish model physical properties of the biological fin, and execute kinematics derived from sunfish motions that were identified to be most responsible for thrust.Abstract:
A series of biorobotic fins has been developed based on the pectoral fin of the bluegill sunfish. These robotic fins model physical properties of the biological fin, and execute kinematics derived from sunfish motions that were identified to be most responsible for thrust. When the physical properties of the robotic fin are tuned appropriately to operating conditions, the robotic fin, like the sunfish, produces positive thrust throughout the entire fin beat. Due to having many degrees of freedom, these fins can be used to generate and control forces for propulsion and maneuvering.read more
Citations
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Journal ArticleDOI
Computational modelling and analysis of the hydrodynamics of a highly deformable fish pectoral fin
TL;DR: In this article, numerical simulations were used to investigate the flow associated with a bluegill sunfish (Lepomis macrochirus) pectoral fin during steady forward motion.
Journal ArticleDOI
The effect of fin ray flexural rigidity on the propulsive forces generated by a biorobotic fish pectoral fin.
James L. Tangorra,George V. Lauder,Ian W. Hunter,Rajat Mittal,Peter G. A. Madden,Meliha Bozkurttas +5 more
TL;DR: An engineered fin was developed that had a similar interaction with the water as the biological fin and that created close approximations of the three-dimensional motions, flows, and forces produced by the sunfish during low speed, steady swimming.
Journal ArticleDOI
Batoid Fishes: Inspiration for the Next Generation of Underwater Robots
TL;DR: A simple yet powerful analytical model to describe the swimming motions of batoid fishes has been developed and is being used to quantify their hydrodynamic performance as discussed by the authors, which is also being used as the design target for artificial pectoral fin design.
A biologically inspired artificial fish using flexible matrix composite actuators: analysis and experiment
TL;DR: In this article, a bio-inspired prototype fish using the flexible matrix composite (FMC) muscle technology for fin and body actuation is developed and an analytical model of the artificial fish using FMC actuators was developed and analysis results were presented.
Journal ArticleDOI
A biologically inspired artificial fish using flexible matrix composite actuators: analysis and experiment
TL;DR: In this paper, a bio-inspired prototype fish using the flexible matrix composite (FMC) muscle technology for fin and body actuation is developed and an analytical model of the artificial fish using FMC actuators was developed and analysis results were presented.
References
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Journal ArticleDOI
Wake topology and hydrodynamic performance of low-aspect-ratio flapping foils
TL;DR: In this article, numerical simulations are used to investigate the effect of aspect ratio on the wake topology and hydrodynamic performance of thin ellipsoidal flapping foils.
Journal ArticleDOI
Fish biorobotics: kinematics and hydrodynamics of self-propulsion
TL;DR: This paper discusses, using aquatic propulsion in fishes as a focal example, how using robotic models can lead to new insights in the study of aquatic propulsion, and uses two examples: pectoral fin function, and hydrodynamic interactions between dorsal and caudal fins.
Journal ArticleDOI
Mechanical performance of aquatic rowing and flying.
TL;DR: A computer simulation to compare the mechanical performance of rowing and flapping appendages across a range of speeds proved to be more mechanically efficient than rowing appendages at all swimming speeds, suggesting that animals that frequently engage in locomotor behaviours that require energy conservation should employ a flapping stroke.
Journal ArticleDOI
The mechanics of active fin-shape control in ray-finned fishes.
TL;DR: A linear elasticity model is derived that predicts the shape of fin rays, given the input muscle actuation and external loading and agrees well with the experiment; both show a concentration of curvature at the ray base or at the point of an externally applied force.
Journal ArticleDOI
The Development of a Biologically Inspired Propulsor for Unmanned Underwater Vehicles
James Tangorra,S.N. Davidson,Ian W. Hunter,Peter G. A. Madden,George V. Lauder,Dong Haibo,Meliha Bozkurttas,Rajat Mittal +7 more
TL;DR: In this article, the pectoral fin of a bluegill sunfish was used to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs).