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Paper WeP107.1

Rossi, Claudio (Universidad Politecnica de Madrid), Coral, William (Universitè de Technologie de Belfort-Montbéliard), Colorado, Julian (Universidad Politécnica de Madrid), Barrientos, Antonio (UPM)

A Motor-Less and Gear-Less Bio-Mimetic Robotic Fish Design

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots VI" (WeP107), Wednesday, May 11, 2011, 13:40−13:55, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Biomimetics, Biologically-Inspired Robots, Soft Material Robotics

Abstract

In this paper, we describe our current work on bio-inspired locomotion systems using a deformable structure and smart materials, concretely Shape Memory Alloys, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot has been developed whose movements are generated using such actuators, used for bending the backbone of the fish, which in turn causes a change on the curvature of the body. This paper focuses on how standard swimming patterns can be reproduced with the proposed design, using an actuation dynamics model identified in prior work.

 

 

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