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Hydraulic Autonomous Soft Robotic Fish for 3D Swimming
Name
paper.pdf
Description
Accepted version
Size
7.68 MB
Format
Adobe PDF
Checksum (MD5)
7fd35f4a89be6312b5719c5d66040b64
Author(s)
Katzschmann, Robert K.
Marchese, Andrew D.
Rus, Daniela
Date Issued
November 13, 2015
Publisher
Springer International Publishing
Citation
Katzschmann, Robert K., Marchese, Andrew D. and Rus, Daniela. 2015. "Hydraulic Autonomous Soft Robotic Fish for 3D Swimming."
Version
Author's final manuscript
Abstract
© Springer International Publishing Switzerland 2016. Thiswork presents an autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions. The design of a fish-like soft body has been extended to deform under hydraulic instead of pneumatic power. Moreover, a new closed-circuit drive system that uses water as a transmission fluid is used to actuate the soft body. Circulation of water through internal body channels provides control over the fish’s caudal fin propulsion and yaw motion. A new fabrication technique for the soft body is described, which allows for arbitrary internal fluidic channels, enabling a wide-range of continuous body deformations. Furthermore, dynamic diving capabilities are introduced through pectoral fins as dive planes. These innovations enable prolonged fish-like locomotion in three dimensions.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1007/978-3-319-23778-7_27
