Biomimetic design of a soft robotic fish for high speed locomotion

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

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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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.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings
EditorsVasiliki Vouloutsi, Anna Mura, Paul F. M. J. Verschure, Falk Tauber, Thomas Speck, Tony J. Prescott
PublisherSpringer Science and Business Media Deutschland GmbH
Pages366-377
Number of pages12
ISBN (Print)9783030643126
DOIs
Publication statusPublished - 2021
Event9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020 - Virtual, Online
Duration: 28 Jul 201930 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12413 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020
CityVirtual, Online
Period28/07/1930/07/19

Keywords

  • Biomimetics
  • Marine robotics
  • Oscillating propulsion
  • Soft robotic fish

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