Biomimetic design of a soft robotic fish for high speed locomotion

Sander C. Van Den Berg; Rob B.N. Scharff; Zoltán Rusák; Jun Wu

doi:10.1007/978-3-030-64313-3_35

Biomimetic design of a soft robotic fish for high speed locomotion

Sander C. Van Den Berg, Rob B.N. Scharff, Zoltán Rusák, Jun Wu^*

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

6 Citations (Scopus)

199 Downloads (Pure)

Abstract

We present a novel DC motor driven soft robotic fish which is optimized for speed and efficiency based on experimental, numerical and theoretical investigation into oscillating propulsion. Our system achieves speeds up to 0.85 m/s, outperforming the previously reported fastest free swimming soft robotic fish by a significant margin of 27%. A simple and effective wire-driven active body and passive compliant body are used to mimic highly efficient thunniform swimming. The efficient DC motor to drive the system decreases internal losses compared to other soft robotic oscillating propulsion systems which are driven by one or multiple servo motors. The DC motor driven design allows for swimming at higher frequencies. The current design has been tested up to a tailbeat frequency of 5.5 Hz, and can potentially reach much higher frequencies.

Original language	English
Title of host publication	Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings
Editors	Vasiliki Vouloutsi, Anna Mura, Paul F. M. J. Verschure, Falk Tauber, Thomas Speck, Tony J. Prescott
Publisher	Springer
Pages	366-377
Number of pages	12
ISBN (Print)	9783030643126
DOIs	https://doi.org/10.1007/978-3-030-64313-3_35
Publication status	Published - 2021
Event	9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020 - Virtual, Online Duration: 28 Jul 2019 → 30 Jul 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	12413 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020
City	Virtual, Online
Period	28/07/19 → 30/07/19

Bibliographical note

Accepted Author Manuscript

Keywords

Biomimetics
Marine robotics
Oscillating propulsion
Soft robotic fish

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-030-64313-3_35

LM2020_soft_robot_fishAccepted author manuscript, 4.93 MB

Cite this

Van Den Berg, S. C., Scharff, R. B. N., Rusák, Z., & Wu, J. (2021). Biomimetic design of a soft robotic fish for high speed locomotion. In V. Vouloutsi, A. Mura, P. F. M. J. Verschure, F. Tauber, T. Speck, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings (pp. 366-377). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12413 LNAI). Springer. https://doi.org/10.1007/978-3-030-64313-3_35

Van Den Berg, Sander C. ; Scharff, Rob B.N. ; Rusák, Zoltán et al. / Biomimetic design of a soft robotic fish for high speed locomotion. Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. editor / Vasiliki Vouloutsi ; Anna Mura ; Paul F. M. J. Verschure ; Falk Tauber ; Thomas Speck ; Tony J. Prescott. Springer, 2021. pp. 366-377 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "We present a novel DC motor driven soft robotic fish which is optimized for speed and efficiency based on experimental, numerical and theoretical investigation into oscillating propulsion. Our system achieves speeds up to 0.85 m/s, outperforming the previously reported fastest free swimming soft robotic fish by a significant margin of 27%. A simple and effective wire-driven active body and passive compliant body are used to mimic highly efficient thunniform swimming. The efficient DC motor to drive the system decreases internal losses compared to other soft robotic oscillating propulsion systems which are driven by one or multiple servo motors. The DC motor driven design allows for swimming at higher frequencies. The current design has been tested up to a tailbeat frequency of 5.5 Hz, and can potentially reach much higher frequencies.",

keywords = "Biomimetics, Marine robotics, Oscillating propulsion, Soft robotic fish",

author = "{Van Den Berg}, {Sander C.} and Scharff, {Rob B.N.} and Zolt{\'a}n Rus{\'a}k and Jun Wu",

note = "Accepted Author Manuscript; 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020 ; Conference date: 28-07-2019 Through 30-07-2019",

year = "2021",

doi = "10.1007/978-3-030-64313-3_35",

language = "English",

isbn = "9783030643126",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer",

pages = "366--377",

editor = "Vasiliki Vouloutsi and Anna Mura and Verschure, {Paul F. M. J.} and Falk Tauber and Thomas Speck and Prescott, {Tony J.}",

booktitle = "Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings",

}

Van Den Berg, SC, Scharff, RBN, Rusák, Z & Wu, J 2021, Biomimetic design of a soft robotic fish for high speed locomotion. in V Vouloutsi, A Mura, PFMJ Verschure, F Tauber, T Speck & TJ Prescott (eds), Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 12413 LNAI, Springer, pp. 366-377, 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020, Virtual, Online, 28/07/19. https://doi.org/10.1007/978-3-030-64313-3_35

Biomimetic design of a soft robotic fish for high speed locomotion. / Van Den Berg, Sander C.; Scharff, Rob B.N.; Rusák, Zoltán et al.
Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. ed. / Vasiliki Vouloutsi; Anna Mura; Paul F. M. J. Verschure; Falk Tauber; Thomas Speck; Tony J. Prescott. Springer, 2021. p. 366-377 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12413 LNAI).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Biomimetic design of a soft robotic fish for high speed locomotion

AU - Van Den Berg, Sander C.

AU - Scharff, Rob B.N.

AU - Rusák, Zoltán

AU - Wu, Jun

N1 - Accepted Author Manuscript

PY - 2021

Y1 - 2021

N2 - We present a novel DC motor driven soft robotic fish which is optimized for speed and efficiency based on experimental, numerical and theoretical investigation into oscillating propulsion. Our system achieves speeds up to 0.85 m/s, outperforming the previously reported fastest free swimming soft robotic fish by a significant margin of 27%. A simple and effective wire-driven active body and passive compliant body are used to mimic highly efficient thunniform swimming. The efficient DC motor to drive the system decreases internal losses compared to other soft robotic oscillating propulsion systems which are driven by one or multiple servo motors. The DC motor driven design allows for swimming at higher frequencies. The current design has been tested up to a tailbeat frequency of 5.5 Hz, and can potentially reach much higher frequencies.

AB - We present a novel DC motor driven soft robotic fish which is optimized for speed and efficiency based on experimental, numerical and theoretical investigation into oscillating propulsion. Our system achieves speeds up to 0.85 m/s, outperforming the previously reported fastest free swimming soft robotic fish by a significant margin of 27%. A simple and effective wire-driven active body and passive compliant body are used to mimic highly efficient thunniform swimming. The efficient DC motor to drive the system decreases internal losses compared to other soft robotic oscillating propulsion systems which are driven by one or multiple servo motors. The DC motor driven design allows for swimming at higher frequencies. The current design has been tested up to a tailbeat frequency of 5.5 Hz, and can potentially reach much higher frequencies.

KW - Biomimetics

KW - Marine robotics

KW - Oscillating propulsion

KW - Soft robotic fish

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DO - 10.1007/978-3-030-64313-3_35

M3 - Conference contribution

AN - SCOPUS:85107299341

SN - 9783030643126

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 366

EP - 377

BT - Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings

A2 - Vouloutsi, Vasiliki

A2 - Mura, Anna

A2 - Verschure, Paul F. M. J.

A2 - Tauber, Falk

A2 - Speck, Thomas

A2 - Prescott, Tony J.

PB - Springer

T2 - 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020

Y2 - 28 July 2019 through 30 July 2019

ER -

Van Den Berg SC, Scharff RBN, Rusák Z, Wu J. Biomimetic design of a soft robotic fish for high speed locomotion. In Vouloutsi V, Mura A, Verschure PFMJ, Tauber F, Speck T, Prescott TJ, editors, Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings. Springer. 2021. p. 366-377. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-64313-3_35

Biomimetic design of a soft robotic fish for high speed locomotion

Abstract

Publication series

Conference

Bibliographical note

Keywords

UN SDGs

Access to Document

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