Journal ArticleDOI
Ostraciiform Underwater Robot With Segmented Caudal Fin
Runzhi Zhang,Zhong Shen,Zheng Wang +2 more
- Vol. 3, Iss: 4, pp 2902-2909
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TLDR
The design, modeling, fabrication, and validation of an Ostraciiform robot with the proposed caudal fin are presented in detail, and it is demonstrated that the peak frequency could be selected via mechanical fin designs, enabling customized caUDal fin design according to applications.Abstract:
Ostraciiform body/caudal fish locomotion requires high-frequency oscillation of the caudal fin, yielding negligible body oscillations. It is the most ideal form of biomimetic locomotion for underwater robots where body-stabilization is required for photography or manipulation applications. This letter presents a two-segment caudal fin design with substantial improvements over existing single-segment fins. The proposed fin helped reducing drag, increasing resonant frequency, and achieving a wide controllable range of thrust forces. The design, modeling, fabrication, and validation of an Ostraciiform robot with the proposed caudal fin are presented in detail. Over 1200 test trials on six fin designs were compared, showing nearly three-times higher resonant frequency and 12% thrust force increase over single-segment homogeneous fin. It is also demonstrated that the peak frequency could be selected via mechanical fin designs, enabling customized caudal fin design according to applications.read more
Citations
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Journal ArticleDOI
Fully 3D printed multi-material soft bio-inspired frog for underwater synchronous swimming
Afaque Manzoor Soomro,Afaque Manzoor Soomro,Fida Hussain Memon,Jae-Wook Lee,Faheem Ahmed,Kyung Hwan Kim,Young Su Kim,Kyung Hyun Choi +7 more
TL;DR: The design motivated from the rigorous modelling and real frog dynamics analysis, enabled the as-developed EXPOG swim synchronously in significant level of consistency with the real frog.
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Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins
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A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation
TL;DR: A flat paddle-fin comprising a set of overlapping cascaded soft flaps that open in one half of the stroke cycle and close in the other enables a substantially higher degree of efficiency in force generation than conventional oscillatory fins which rely on weaker longitudinal wake-induced forces.
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Shape memory alloy-driven undulatory locomotion of a soft biomimetic ray robot.
TL;DR: In this paper, an artificial muscle built with shape memory alloy (SMA) based soft actuators was exploited to control the shape changing behavior of a soft fin membrane, which is a commonly observed swimming mechanism of rays using a soft morphing actuator.
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A Cephalopod-Inspired Soft-Robotic Siphon for Thrust Vectoring and Flow Rate Regulation.
TL;DR: This work proves the feasibility of combining omnidirectional deflection with flow regulation within a soft-robotic mechanism, paving the way to compact water-jetting propulsion for underwater robots.
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Journal ArticleDOI
Review of biomimetic underwater robots using smart actuators
Won-Shik Chu,Kyung-Tae Lee,Sung-Hyuk Song,Min-Woo Han,Jang-Yeob Lee,Hyung-Soo Kim,Min-Soo Kim,Yong-Jai Park,Kyu-Jin Cho,Sung-Hoon Ahn +9 more
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Book ChapterDOI
Hydraulic Autonomous Soft Robotic Fish for 3D Swimming
TL;DR: An autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions is presented, which allows for arbitrary internal fluidic channels, enabling a wide-range of continuous body deformations.