A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Volumn , Issue , 2010, Pages 473-478

  Valdivia Y Alvarado, Pablo ^a   Chin, Stephanie ^a   Larson, Winston ^a   Mazumdar, Anirban ^a   Youcef Toumi, Kamal ^a  

^a Massachusetts Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANISOTROPIC MATERIAL; BIO-MIMETIC ROBOT; BODY MATERIALS; DISPLAY MODES; FISH LIKE SWIMMING; FLEXIBLE BODIES; MULTI DEGREE-OF-FREEDOM; NEW APPLICATIONS; PERFORMANCE DATA; SOFT-BODIES;

BIOMIMETICS; FLEXIBLE DISPLAYS; KINEMATICS; ROBOTICS; ROBOTS; SOFTWARE PROTOTYPING;

MACHINE DESIGN;

EID: 78650375303     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2010.5627803     Document Type: Conference Paper

References (18)

1. M.S. Sfakiotakis, D.M. Lane, J.B.C. Davies, Review of fish swimming modes for aquatic locomotion, IEEE Journal of Oceanic Engineering 24 (2) (1999) 237252.
2. C.M. Breder Jr., The locomotion of fishes, Zoologica 4 (1926) 159291.
3. C.C. Lindsey, Form function locomotory habits in fish, in: W.S. Hoar, D.J. Randall (Eds.), Fish Physiology VII Locomotion, Academic, New York, 1978, pp. 1100.
4. Y. Toda, T. Suzuki, S. Uto, N. Tanaka, Fundamental study of a fishlike body with two undulating side-fins, Bio-Mechanisms of Swimming and Flying (2004) 93110.
5. Y. Toda, N. Sogihara, Y. Sanada, M. Danno, "The motion of a fishlike under-water vehicle with two undulating side fins", Proceedings of the Third International Symposium on Aero Aqua Bio-mechanisms (ISABMEC06), Okinawa, Japan, 2006.
6. A. Willy, K.H. Low, "Development and initial experiment of modular undulating fin for untethered biorobotic AUVs", Proceedings of the International IEEE Conference on Robotics and Biomimetics (ROBIO05), Hong Kong, 2005, pp. 4550.
7. K.H. Low, A. Willy, Biomimetic motion planning of an undulating robotic fish fin, Journal of Vibration and Control 12 (12) (2006) 13371359.
8. K.H. Low, Gerald G.L. Seet, C. Zhou, "Biomimetic design and workspace Study of a compact and modular undulating fin body segments", Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA07), Heilongjiang, China, 2007, pp. 129134.
9. M. Epstein, J.E. Colgate, M.A. MacIver, "Generating thrust with a biologically-inspired robotic ribbon fin", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS06), Beijing, China, 2006, pp. 24122417.
10. P. Valdivia y Alvarado, and K. Youcef-Toumi, "Modeling and design methodology for an efficient underwater propulsion system", Proc. IASTED International conference on Robotics and Applications, Salzburg, Austria 2003.
11. P. Valdivia y Alvarado, and K. Youcef-Toumi, "Performance of machines with flexible bodies designed for biomimetic locomotion in liquid environments", Proc. IEEE International conference on robotics and automation (ICRA), Barcelona, Spain 2005.
12. P. Valdivia y Alvarado, and K. Youcef-Toumi, Design of Machines with Compliant Bodies for Biomimetic Locomotion in Liquid Environments, ASME Journal of Dynamics Systems Measurement and Control, 128, 3-13, March 2006.
13. P. Valdivia y Alvarado, Design of Biomimetic Compliant Devices for Locomotion in Liquid Environments, Ph.D. Thesis, Massachusetts Institute of Technology, 2007.
14. L.J. Rosenberg, M.W.Westneat, Functional Morphology of Undulatory Pectoral Fin Locomotion in the Stingray Taeniura Lymma (Chondrichthyes: Dasyatidae), The Journal of Experimental Biology, 202, (1999), 3523-3539.
15. L.J. Rosenberg, Pectoral Fin Locomotion in Batoid Fishes: Undulation versus Oscillation, The journal of Experimetnal Biology, 204, (2001) 379-394.
16. M. Argentina, J. Skotheim, L. Mahadevan, Settling and Swimming of Flexible Fluid-Lubricated Foils, Physical Review Letters, 99(22) (2007).
17. A. Mazumdar, P. Valdivia y Alvarado, and K. Youcef-Toumi, "Maneuverability of a Robotic Tuna with Compliant Body", Proc. IEEE International conference on robotics and automation (ICRA), Pasadena, CA 2008.
18. B. Epps, P. Valdivia y Alvarado, K. Youcef-Toumi, and A. Techet, Swimming Performance of a Biomimetic Compliant Fish-like Robot, Experiments in Fluids, 47(6), 927-939, 2009.