A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example
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Youcef-Toumi_A soft-body.pdf
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Author(s)
Valdivia y Alvarado, Pablo
Chin, Stephanie
Larson, Winston
Mazumdar, Anirban
Youcef-Toumi, Kamal
Date Issued
September 2010
Journal
Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Valdivia y Alvarado, Pablo, Stephanie Chin, Winston Larson, Anirban Mazumdar, and Kamal Youcef-Toumi. A Soft Body Under-actuated Approach to Multi Degree of Freedom Biomimetic Robots: A Stingray Example. In 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 473-478. Institute of Electrical and Electronics Engineers, 2010. © Copyright 2010 IEEE
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Final published version
Abstract
In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1109/BIOROB.2010.5627803
