Notice

This is not the latest version of this item. The latest version can be found at:https://dspace.mit.edu/handle/1721.1/137208.2

Show simple item record

dc.contributor.authorKatzschmann, Robert K.
dc.contributor.authorMarchese, Andrew D.
dc.contributor.authorRus, Daniela
dc.date.accessioned2021-11-03T14:47:07Z
dc.date.available2021-11-03T14:47:07Z
dc.date.issued2015-11-13
dc.identifier.issn1610-7438
dc.identifier.issn1610-742X
dc.identifier.urihttps://hdl.handle.net/1721.1/137208
dc.description.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.en_US
dc.language.isoen
dc.publisherSpringer International Publishingen_US
dc.relation.isversionof10.1007/978-3-319-23778-7_27en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceOther repositoryen_US
dc.titleHydraulic Autonomous Soft Robotic Fish for 3D Swimmingen_US
dc.typeBooken_US
dc.identifier.citationKatzschmann, Robert K., Marchese, Andrew D. and Rus, Daniela. 2015. "Hydraulic Autonomous Soft Robotic Fish for 3D Swimming."
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2019-07-17T13:12:56Z
dspace.date.submission2019-07-17T13:12:57Z
mit.licenseOPEN_ACCESS_POLICY
mit.metadata.statusAuthority Work and Publication Information Neededen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

VersionItemDateSummary

*Selected version