机器人
推进
水下
仿生学
工程类
工作(物理)
背鳍
软机器人
运动(物理)
机械工程
海洋工程
计算机科学
模拟
人工智能
背
航空航天工程
地质学
解剖
海洋学
医学
作者
William Coral,Claudio Rossi
标识
DOI:10.1088/1748-3190/aca132
摘要
Abstract Fish has primarily served as a model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper, we present our work on the 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of a live fish, have been designed and tested to generate lateral thrusts that aim to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization of the forward motion in the robot. These fins comprise shape memory alloy wires embedded in silicone. We demonstrate that these fins can provide a means for 3D maneuvering. In this work, we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact, and waterproof.
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