A Single-Actuated Swimming Robot: Design, Modelling, and Experiments
This paper describes and investigates a simple swimming mechanism, which comprises two concentric bodies and two passive flaps. The mechanism propels itself forward by oscillating its inner body in a symmetric fashion using a single actuator. Using a few assumptions, we develop a simplified model to...
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| Published in | Journal of intelligent & robotic systems Vol. 94; no. 2; pp. 471 - 489 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Dordrecht
Springer Netherlands
01.05.2019
Springer Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0921-0296 1573-0409 |
| DOI | 10.1007/s10846-018-0776-x |
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| Abstract | This paper describes and investigates a simple swimming mechanism, which comprises two concentric bodies and two passive flaps. The mechanism propels itself forward by oscillating its inner body in a symmetric fashion using a single actuator. Using a few assumptions, we develop a simplified model to investigate the dynamics of the robot and to simulate its motion. Numerical simulations show the effect of design parameters and control inputs on the locomotion performance. Next, we show how changing the control input from symmetric to asymmetric oscillations leads to a turning motion, still using only a single motor. By modulating the asymmetry in the oscillatory input, the turning radius changes. We conclude with a validation of our model with a proof-of-concept prototype showing similar swimming motions. |
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| AbstractList | This paper describes and investigates a simple swimming mechanism, which comprises two concentric bodies and two passive flaps. The mechanism propels itself forward by oscillating its inner body in a symmetric fashion using a single actuator. Using a few assumptions, we develop a simplified model to investigate the dynamics of the robot and to simulate its motion. Numerical simulations show the effect of design parameters and control inputs on the locomotion performance. Next, we show how changing the control input from symmetric to asymmetric oscillations leads to a turning motion, still using only a single motor. By modulating the asymmetry in the oscillatory input, the turning radius changes. We conclude with a validation of our model with a proof-of-concept prototype showing similar swimming motions. This paper describes and investigates a simple swimming mechanism, which h comprises two concentric bodies and two passive flaps. The mechanism propels itself forward by oscillating its inner body in a symmetric fashion using a single actuator. Using a few assumptions, we develop a simplified model to investigate the dynamics of the robot and to simulate its motion. Numerical simulations show the effect of design parameters and control inputs on the locomotion performance. Next, we show how changing the control input from symmetric to asymmetric oscillations leads to a turning motion, still using only a single motor. By modulating the asymmetry in the oscillatory input, the turning radius changes. We conclude with a validation of our model with a proof-of-concept prototype showing similar swimming motions. Keywords Underactuated robots * Dynamics * Marine robotics Mathematics Subject Classification 2010 70B15 |
| Audience | Academic |
| Author | Degani, Amir Refael, Gilad |
| Author_xml | – sequence: 1 givenname: Gilad surname: Refael fullname: Refael, Gilad organization: Technion Autonomous Systems Program, Technion – Israel Institute of Technology – sequence: 2 givenname: Amir orcidid: 0000-0002-4813-8506 surname: Degani fullname: Degani, Amir email: adegani@technion.ac.il organization: Technion Autonomous Systems Program, Technion – Israel Institute of Technology, Faculty of Civil and Environmental Engineering, Technion – Israel Institute of Technology |
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| Cites_doi | 10.1109/IROS.2006.282308 10.1109/ACC.2012.6315688 10.1088/0964-1726/14/6/051 10.1109/IROS.2003.1249259 10.1038/ncomms14189 10.1089/soro.2013.0009 10.1088/1748-3182/7/2/025001 10.1017/S0022112009006806 10.1109/JOE.2004.833117 10.1016/S1672-6529(09)60184-0 10.1109/IROS.2015.7353684 10.1088/0964-1726/22/1/014007 10.1119/1.10903 10.1109/ACC.2015.7170810 10.1109/ROBOT.2007.364246 10.1109/48.757275 10.1088/0964-1726/18/8/085002 10.1109/ROBOT.1995.525765 10.1109/TRO.2014.2382981 10.1109/IGCC.2012.6322263 10.1109/TRO.2013.2280058 10.1063/1.4874306 10.1007/BFb0119402 10.1109/TRO.2013.2251211 10.1098/rsif.2012.0666 10.1007/s11012-015-0286-x 10.1038/srep17414 10.1109/TRO.2013.2291617 10.1103/PhysRevE.79.045302 |
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| References | MohammadshahiDYousefi-komaABahmanyarSMalekiHDesign, fabrication and hydrodynamic analysis of a biomimetic robot fishInt. J. Mech.2008245966 HuangCLvJTianXWangYYuYLiuJMiniaturized swimming soft robot with complex movement actuated and controlled by remote light signalsSci. Rep.201551741410.1038/srep17414 LiuJHuHBiological Inspiration: From carangiform fish to multi-joint robotic fishJ. Bionic Eng.201071354810.1016/S1672-6529(09)60184-0 SarehSRossiterJConnADrescherKGoldsteinRESwimming like algae: Biomimetic soft artificial ciliaJ. R. Soc. Interface201210782012066610.1098/rsif.2012.0666 Kastner, R., Lin, A., Schurgers, C., Jaffe, J., Franks, P., Stewart, B. S.: Sensor platforms for multimodal underwater monitoring. In: 2012 Int. Green Comput. Conf. (IGCC), pp. 1–7 (2012) DillerEZhuangJZhan LumGEdwardsMRSittiMContinuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimmingAppl. Phys. Lett.20141041717410110.1063/1.4874306 KimH-JSongS-HAhnS-HA turtle-like swimming robot using a smart soft composite (SSC) structureSmart Mater. Struct.20132211400710.1088/0964-1726/22/1/014007 KansoESwimming due to transverse shape deformationsJ. Fluid Mech.2009631127148254228510.1017/S00221120090068061181.76033 Edd, J., Payen, S., Rubinsky, B., Stoller, M. L., Sitti, M.: Biomimetic propulsion for a swimming surgical micro-robot. In: Proc. 2003 IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS 2003), pp. 2583–2588 (2003) SinghSNSimhaAMittalRBiorobotic AUV maneuvering by pectoral fins: Inverse control design based on CFD parameterizationIEEE J. Ocean. Eng.200429377778510.1109/JOE.2004.833117 JaffeJSA swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamicsNat. Commun.201781418910.1038/ncomms14189 YeomS-WOhI-KA biomimetic jellyfish robot based on ionic polymer metal composite actuatorsSmart Mater. Struct.20091888500210.1088/0964-1726/18/8/085002 YeZSittiMRotating magnetic miniature swimming robots with multiple flexible flagellaIEEE Trans. Robot.201430131310.1109/TRO.2013.2280058 OrYMurrayRMDynamics and stability of a class of low Reynolds number swimmers near a wallPhys. Rev. E - Stat. Nonlinear Soft Matter Phys.20097941410.1103/PhysRevE.79.045302 PurcellEMLife at low Reynolds numberAm. J. Phys197745131110.1119/1.10903 MarcheseADOnalCDRusDAutonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuatorsSoft Robot.201411758710.1089/soro.2013.0009 KimBKimD-HJungJParkJ-OA biomimetic undulatory tadpole robot using ionic polymer–metal composite actuatorsSmart Mater. Struct.20051461579158510.1088/0964-1726/14/6/051 StefaniniCA novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineersBioinspir. Biomim.2012722500110.1088/1748-3182/7/2/025001 Stackpole, E., Lang, D.: OpenROV. [Online]. Available: http://openrov.com (2012) SfakiotakisMLaneDMDaviesJBCBruceJDaviesCReview of fish swimming modes for aquatic locomotionIEEE J. Ocean. Eng.199924223725210.1109/48.757275 Kelly, S. D., Fairchild, M. J., Hassing, P. M., Tallapragada, P.: Proportional heading control for planar navigation: The Chaplygin beanie and fishlike robotic swimming. Am. Control Conf., pp. 4885–4890 (2012) Fukuda, T., Kawamoto, A., Arai, F., Matsuura, H.: Steering mechanism of underwater micro mobile robot. Proc. 1995 IEEE Int. Conf. Robot. Autom. (ICRA 1995), pp. 363–368 (1995) Takagi, K. et al.: Development of a rajiform swimming robot using ionic polymer artificial muscles. In: Proc. 2006 IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS 2006), pp. 1861–1866 (2006) DeganiADynamic single actuator robot climbing a chuteMeccanica201651512271243348655510.1007/s11012-015-0286-x1381.70023 Mason, R, Burdick, J: Construction and modelling of a carangiform robotic fish. In: Experimental Robotics VI, pp 235–242 (2000) ZarroukDFearingRSControlled in-plane locomotion of a hexapod using a single actuatorIEEE Trans. Robot.201531115716710.1109/TRO.2014.2382981 Crespi, A., Ijspeert, A. J.: AmphiBot II: An amphibious snake robot that crawls and swims using a central pattern generator. In: Proc. 9th Int. Conf. Climbing Walk. Robot. (CLAWAR 2006), pp. 19–27 (2006) Suzumori, K., Endo, S., Kanda, T., Kato, N., Suzuki, H.: A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. In: Proc. 2007 IEEE Int. Conf. Robot. Autom. (ICRA 2007), pp. 4975–4980 (2007) HattonRChosetHGeometric swimming at low and high Reynolds numbersIEEE Trans. Robot.201329361562410.1109/TRO.2013.2251211 MazumdarAAsadaHHControl-configured design of spheroidal, appendage-free, underwater vehiclesIEEE Trans. Robot.201430244846010.1109/TRO.2013.2291617 Refael, G., Degani, A.: Momentum-driven single-actuated swimming robot. In: Proc. 2015 IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS 2015), pp. 2285–2290 (2015) Tallapragada, P., A swimming robot with an internal rotor as a nonholonomic system. Am. Control Conf., pp. 657–662 (2015) JS Jaffe (776_CR2) 2017; 8 776_CR32 A Degani (776_CR24) 2016; 51 A Mazumdar (776_CR3) 2014; 30 E Diller (776_CR7) 2014; 104 EM Purcell (776_CR28) 1977; 45 776_CR6 776_CR18 776_CR4 776_CR16 776_CR5 AD Marchese (776_CR14) 2014; 1 E Kanso (776_CR30) 2009; 631 776_CR1 776_CR11 S-W Yeom (776_CR20) 2009; 18 R Hatton (776_CR31) 2013; 29 Z Ye (776_CR8) 2014; 30 J Liu (776_CR15) 2010; 7 M Sfakiotakis (776_CR10) 1999; 24 C Stefanini (776_CR12) 2012; 7 D Zarrouk (776_CR25) 2015; 31 776_CR21 H-J Kim (776_CR13) 2013; 22 B Kim (776_CR17) 2005; 14 S Sareh (776_CR19) 2012; 10 776_CR23 776_CR22 C Huang (776_CR9) 2015; 5 Y Or (776_CR29) 2009; 79 D Mohammadshahi (776_CR26) 2008; 2 SN Singh (776_CR27) 2004; 29 |
| References_xml | – reference: KimH-JSongS-HAhnS-HA turtle-like swimming robot using a smart soft composite (SSC) structureSmart Mater. Struct.20132211400710.1088/0964-1726/22/1/014007 – reference: PurcellEMLife at low Reynolds numberAm. J. Phys197745131110.1119/1.10903 – reference: DillerEZhuangJZhan LumGEdwardsMRSittiMContinuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimmingAppl. Phys. Lett.20141041717410110.1063/1.4874306 – reference: StefaniniCA novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineersBioinspir. Biomim.2012722500110.1088/1748-3182/7/2/025001 – reference: Edd, J., Payen, S., Rubinsky, B., Stoller, M. L., Sitti, M.: Biomimetic propulsion for a swimming surgical micro-robot. In: Proc. 2003 IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS 2003), pp. 2583–2588 (2003) – reference: HuangCLvJTianXWangYYuYLiuJMiniaturized swimming soft robot with complex movement actuated and controlled by remote light signalsSci. Rep.201551741410.1038/srep17414 – reference: SarehSRossiterJConnADrescherKGoldsteinRESwimming like algae: Biomimetic soft artificial ciliaJ. R. Soc. Interface201210782012066610.1098/rsif.2012.0666 – reference: OrYMurrayRMDynamics and stability of a class of low Reynolds number swimmers near a wallPhys. Rev. E - Stat. Nonlinear Soft Matter Phys.20097941410.1103/PhysRevE.79.045302 – reference: Refael, G., Degani, A.: Momentum-driven single-actuated swimming robot. In: Proc. 2015 IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS 2015), pp. 2285–2290 (2015) – reference: Mason, R, Burdick, J: Construction and modelling of a carangiform robotic fish. In: Experimental Robotics VI, pp 235–242 (2000) – reference: Crespi, A., Ijspeert, A. J.: AmphiBot II: An amphibious snake robot that crawls and swims using a central pattern generator. In: Proc. 9th Int. Conf. Climbing Walk. Robot. (CLAWAR 2006), pp. 19–27 (2006) – reference: SinghSNSimhaAMittalRBiorobotic AUV maneuvering by pectoral fins: Inverse control design based on CFD parameterizationIEEE J. Ocean. Eng.200429377778510.1109/JOE.2004.833117 – reference: MarcheseADOnalCDRusDAutonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuatorsSoft Robot.201411758710.1089/soro.2013.0009 – reference: KansoESwimming due to transverse shape deformationsJ. Fluid Mech.2009631127148254228510.1017/S00221120090068061181.76033 – reference: Fukuda, T., Kawamoto, A., Arai, F., Matsuura, H.: Steering mechanism of underwater micro mobile robot. Proc. 1995 IEEE Int. Conf. Robot. Autom. (ICRA 1995), pp. 363–368 (1995) – reference: Takagi, K. et al.: Development of a rajiform swimming robot using ionic polymer artificial muscles. In: Proc. 2006 IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS 2006), pp. 1861–1866 (2006) – reference: MohammadshahiDYousefi-komaABahmanyarSMalekiHDesign, fabrication and hydrodynamic analysis of a biomimetic robot fishInt. J. Mech.2008245966 – reference: DeganiADynamic single actuator robot climbing a chuteMeccanica201651512271243348655510.1007/s11012-015-0286-x1381.70023 – reference: MazumdarAAsadaHHControl-configured design of spheroidal, appendage-free, underwater vehiclesIEEE Trans. Robot.201430244846010.1109/TRO.2013.2291617 – reference: HattonRChosetHGeometric swimming at low and high Reynolds numbersIEEE Trans. Robot.201329361562410.1109/TRO.2013.2251211 – reference: Kastner, R., Lin, A., Schurgers, C., Jaffe, J., Franks, P., Stewart, B. S.: Sensor platforms for multimodal underwater monitoring. In: 2012 Int. Green Comput. Conf. (IGCC), pp. 1–7 (2012) – reference: Suzumori, K., Endo, S., Kanda, T., Kato, N., Suzuki, H.: A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. 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| Snippet | This paper describes and investigates a simple swimming mechanism, which comprises two concentric bodies and two passive flaps. The mechanism propels itself... This paper describes and investigates a simple swimming mechanism, which h comprises two concentric bodies and two passive flaps. The mechanism propels itself... |
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| SubjectTerms | Actuators Artificial Intelligence Asymmetry Composite materials Computer simulation Control Design parameters Electrical Engineering Engineering Experiments Flaps Locomotion Mathematical models Mechanical Engineering Mechatronics Numerical analysis Ordinary differential equations Reynolds number Robot dynamics Robot learning Robotics Robots Sensors Swimming |
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| Title | A Single-Actuated Swimming Robot: Design, Modelling, and Experiments |
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