Manoeuvring of an aquatic soft robot using thrust-vectoring

Tao Wang; Artur K. Lidtke; Francesco Giorgio-Serchi; Gabriel D. Weymouth

doi:10.1109/ROBOSOFT.2019.8722732

Manoeuvring of an aquatic soft robot using thrust-vectoring

Tao Wang
, Artur K. Lidtke
, Francesco Giorgio-Serchi^*
, Gabriel D. Weymouth

^*Corresponding author for this work

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

13 Citations (Scopus)

Abstract

Capability of a pulsed-jetting, aquatic soft robot to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35°.

Original language	English
Title of host publication	RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
Publisher	IEEE
Pages	186-191
ISBN (Electronic)	9781538692608
DOIs	https://doi.org/10.1109/ROBOSOFT.2019.8722732
Publication status	Published - 24 May 2019
Externally published	Yes
Event	2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, South Korea Duration: 14 Apr 2019 → 18 Apr 2019

Conference

Conference	2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Country/Territory	South Korea
City	Seoul
Period	14/04/19 → 18/04/19

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10.1109/ROBOSOFT.2019.8722732

Cite this

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title = "Manoeuvring of an aquatic soft robot using thrust-vectoring",

abstract = "Capability of a pulsed-jetting, aquatic soft robot to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35°.",

author = "Tao Wang and Lidtke, \{Artur K.\} and Francesco Giorgio-Serchi and Weymouth, \{Gabriel D.\}",

year = "2019",

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doi = "10.1109/ROBOSOFT.2019.8722732",

language = "English",

pages = "186--191",

booktitle = "RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics",

publisher = "IEEE",

address = "United States",

note = "2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 ; Conference date: 14-04-2019 Through 18-04-2019",

}

TY - GEN

T1 - Manoeuvring of an aquatic soft robot using thrust-vectoring

AU - Wang, Tao

AU - Lidtke, Artur K.

AU - Giorgio-Serchi, Francesco

AU - Weymouth, Gabriel D.

PY - 2019/5/24

Y1 - 2019/5/24

N2 - Capability of a pulsed-jetting, aquatic soft robot to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35°.

AB - Capability of a pulsed-jetting, aquatic soft robot to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35°.

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Manoeuvring of an aquatic soft robot using thrust-vectoring

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