Analytical and computational modeling of robotic fish propelled by soft actuation material-based active joints

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 2126-2131

  Anton, Mart ^a,b   Chen, Zheng ^a   Kruusmaa, Maarja ^a   Tan, Xiaobo ^b,c  

^a Michigan State University   (United States)

^b UNIVERSITY OF TARTU   (Estonia)

^c TALLINN UNIVERSITY OF TECHNOLOGY   (Estonia)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMIMETIC MATERIALS; BIOMIMETICS; COMPUTATIONAL FLUID DYNAMICS; FISH; FUNCTIONAL POLYMERS; INTELLIGENT ROBOTS; ROBOTICS;

ACTUATION MATERIALS; BIOMIMETIC ROBOTIC FISH; COMPUTATIONAL FLUID DYNAMICS MODELING; COMPUTATIONAL MODEL; INTERNAL DYNAMICS; IONIC POLYMER METAL COMPOSITES; KINEMATIC CONSTRAINTS; ROBOTIC APPLICATIONS;

ANALYTICAL MODELS;

EID: 76249106057     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354189     Document Type: Conference Paper

References (25)

1. F. E. Fish and G. V. Lauder, "Passive and active flow control by swimming fishes and mammals," Annual Review of Fluid Mechanics, vol. 38, pp. 193-224, 2006.
2. M. S. Triantafyllou and G. S. Triantafyllou, "An efficient swimming machine," Scientific America, vol. 273, no. 3, pp. 64-70, 1995.
3. S. Guo, T. Fukuda, and K. Asaka, "A new type of fish-like underwater microrobot," IEEE/ASME Transactions on Mechatronics, vol. 8, no. 1, pp. 136-141, 2003.
4. H. Hu, J. Liu, I. Dukes, and G. Francis, "Design of 3D swim patterns for autonomous robotic fish," in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, pp. 2406-2411.
5. B. Kim, D. Kim, J. Jung, and J. Park, "A biomimetic undulatory tadpole robot using ionic polymer-metal composite actuators," Smart Materials and Structures, vol. 14, pp. 1579-1585, 2005.
6. X. Tan, D. Kim, N. Usher, D. Laboy, J. Jackson, A. Kapetanovic, J. Rapai, B. Sabadus, and X. Zhou, "An autonomous robotic fish for mobile sensing," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, pp. 5424-5429.
7. K. A. Morgansen, B. I. Triplett, and D. J. Klein, "Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles," IEEE Transactions on Robotics, vol. 23, no. 6, pp. 1184-1199, 2007.
8. J. W. Paquette and K. J. Kim, "Ionomeric electroactive polymer artificial muscle for naval applications," IEEE Journal of Oceanic Engineering, vol. 29, no. 3, pp. 729-738, 2004.
9. D. Trivedi, C. D. Rahn, W. M. Kier, and I. D. Walker, "Soft robotics: Biological inspiration, state of the art, and future research," Applied Bionics and Biomechanics, vol. 5, no. 3, pp. 99-117, 2008.
10. J. Tangorra, P. Anquetil, T. Fofonoff, A. Chen, M. Del Zio, and I. Hunter, "The application of conducting polymers to a biorobotic fin propulsor," Bioinspiration & Biomimetics, vol. 2, pp. S6-S17, 2007.
11. S. McGovern, G. Alici, V. T. Truong, and G. Spinks, "Finding NEMO (Novel Electromaterial Muscle Oscillator): A polypyrrole powered robotic fish with real-time wireless speed and directional control," Smart Material and Structures, vol. 18, p. 095 009:1C10, 2009.
12. M. Mojarrad and M. Shahinpoor, "Biomimetic robotic propulsion using polymeric artificial muscles," in Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, 1997, pp. 2152-2157.
13. A. Punning, M. Anton, M. Kruusmaa, and A. Aabloo, "A biologically inspired ray-like underwater robot with electroactive polymer pectoral fins," in Proceedings of the 2004 IEEE International Conference on Mechatronics and Robotics, Aachen, Germany, 2004, pp. 241-245.
14. N. Kamamichi, M. Yamakita, K. Asaka, and Z. Luo, "A snake-like swimming robot using IPMC actuator/sensor," in Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, 2006, pp. 1812-1817.
15. E. Mbemmo, Z. Chen, S. Shatara, and X. Tan, "Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite actuator," in Proceedings of the IEEE International Conference on Robotics and Automation, 2008, pp. 689-694.
16. I. Must, M. Anton, M. Kruusmaa, and A. Aabloo, "Linear modeling of elongated bending EAP actuator at large deformations," in Electroactive Polymer Actuators and Devices (EAPAD) XI, Proceedings of SPIE, Y. Bar-Cohen, Ed., 2009, p. 728723.
17. A. Hunt, A. Punning, M. Anton, A. Aabloo, and M. Kruusmaa, "A multilink manipulator with IPMC joints," in Electroactive Polymer Actuators and Devices (EAPAD) 2008, Proceedings of SPIE, Y. Bar-Cohen, Ed., vol. 6927, 2008, p. 69271Z.
18. K. J. Kim, W. Yim, J. W. Paquette, and D. Kim, "Ionic polymer-metal composites for underwater operation," Journal of Intelligent Material Systems and Structures, vol. 18, pp. 123-132, 2007.
19. Z. Chen, S. Shatara, and X. Tan, "Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite caudal fin," IEEE/ASME Transactions on Mechatronics, 2009, to appear.
20. P. Brunetto, L. Fortuna, S. Graziani, and S. Strazzeri, "A model of ionic polymercmetal composite actuators in underwater operations," Smart Material and Structures, vol. 17, pp. 025 029:1-12, 2008.
21. K. Abdelnour, E. Mancia, S. D. Peterson, and M. Porfiri, "Hydrodynamics of underwater propulsors based on ionic polymer metal composites: A numerical study," Smart Material and Structures, vol. 18, p. 085 006:1C11, 2009.
22. Z. Chen and X. Tan, "A control-oriented and physics-based model for ionic polymer-metal composte actuators," IEEE/ASME Transactions on Mechatronics, vol. 13, no. 5, pp. 519-529, 2008.
23. M. J. Lighthill, "Large-amplitude elongated-body theory of fish locomotion," Proceedings of the Royal Society of London B, vol. 179, pp. 125-138, 1971.
24. J. E. Sader, "Frequency response of cantilever beams immersed in viscous fluids with applications to the atomic force micrscope," Journal of Applied Physics, vol. 84, no. 1, pp. 64-76, 1998.
25. http://www.fluent.com.