Design and control of a ray-mimicking soft robot based on morphological features for adaptive deformation

被引:15
作者
Urai, Kenji [1 ]
Sawada, Risa [2 ]
Hiasa, Natsuki [3 ]
Yokota, Masashi [2 ]
DallaLibera, Fabio [1 ]
机构
[1] Osaka Univ, Grad Sch Engn Sci, Dept Syst Innovat, Toyonaka, Osaka 560, Japan
[2] Osaka Univ, Grad Sch Frontier Biosci, Suita, Osaka, Japan
[3] Osaka Univ, Grad Sch Informat Sci & Technol, Suita, Osaka, Japan
关键词
Underwater robot; Soft robotics; Biomimetics; Morphological computation; Batoid fishes;
D O I
10.1007/s10015-015-0216-y
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Underwater tasks are diversified and articulated. The environment in which they must be accomplished is often unconstrained and unpredictable. Operating AUVs assuring safety of the robot and of its surrounding is therefore very difficult. On the other hand, many fishes are able to easily move in the same environments. A crucial factor for this capability is their body, which consists primarily of elastic and soft structures that enable both complex movement and adaptation to the environment. Among the most efficient swimmers we find rays, which show abilities like high speed turning and omnidirectional swimming. In this paper we propose an underwater soft robot based on the morphological features of rays. We mimic both their radially skeletal structure with independent actuators for each bone and the compliance of their fins. This flexibility of the structure provides an adaptive deformation that allows our robot to swim smoothly and safely.
引用
收藏
页码:237 / 243
页数:7
相关论文
共 16 条
  • [1] Chu SW, 2012, INT J PRECIS ENG MAN
  • [2] Comas OA, 2014, BIOMECHANICS BATOID
  • [3] Fiazza M-C., 2010, OCEANS 10 IEEE SYDNE, P1, DOI [10.1109/OCEANSSYD.2010.5603660, DOI 10.1109/OCEANSSYD.2010.5603660]
  • [4] Galloway K. C., 2013, P1, DOI [10.1109/icar.2013.6766586, DOI 10.1109/ICAR.2013.6766586]
  • [5] Biorobotics: Using robots to emulate and investigate agile locomotion
    Ijspeert, Auke J.
    [J]. SCIENCE, 2014, 346 (6206) : 196 - 203
  • [6] A pectoral fin analysis for diving rajiform-type fish robots by fluid dynamics
    Ikeda M.
    Hikasa S.
    Watanabe K.
    Nagai I.
    [J]. Artificial Life and Robotics, 2014, 19 (2) : 136 - 141
  • [7] Low KH, 2006, J VIB CONTROL
  • [8] Moored Keith W, 2011, MARINE TECHNOL SOC J
  • [9] Pneumatic Networks for Soft Robotics that Actuate Rapidly
    Mosadegh, Bobak
    Polygerinos, Panagiotis
    Keplinger, Christoph
    Wennstedt, Sophia
    Shepherd, Robert F.
    Gupta, Unmukt
    Shim, Jongmin
    Bertoldi, Katia
    Walsh, Conor J.
    Whitesides, George M.
    [J]. ADVANCED FUNCTIONAL MATERIALS, 2014, 24 (15) : 2163 - 2170
  • [10] The Challenges Ahead for Bio-Inspired 'Soft' Robotics
    Pfeifer, Rolf
    Lungarella, Max
    Iida, Fumiya
    [J]. COMMUNICATIONS OF THE ACM, 2012, 55 (11) : 76 - 87