TY - GEN
T1 - Momentum-driven single-actuated swimming robot
AU - Refael, Gilad
AU - Degani, Amir
N1 - Publisher Copyright: © 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - This paper investigates a simple swimming mechanism, which comprises two concentric bodies and two passive flaps. The mechanism propels itself forward by oscillating its inner body in a symmetric fashion using a single actuator. The paper starts by using a simple model to investigate the dynamics of the robot and to simulate its motion. Next, we simulate various design parameters and conclude that some parameters can improve the performance of the swimming robot. We conclude with a proof-of-concept prototype that is capable of swimming similar to the predicted model. Moreover, by using an asymmetric input, the mechanism is able to rotate in various curvatures. The combination of these forward and rotational gaits can be used to stabilize the robot onto a desired trajectory.
AB - This paper investigates a simple swimming mechanism, which comprises two concentric bodies and two passive flaps. The mechanism propels itself forward by oscillating its inner body in a symmetric fashion using a single actuator. The paper starts by using a simple model to investigate the dynamics of the robot and to simulate its motion. Next, we simulate various design parameters and conclude that some parameters can improve the performance of the swimming robot. We conclude with a proof-of-concept prototype that is capable of swimming similar to the predicted model. Moreover, by using an asymmetric input, the mechanism is able to rotate in various curvatures. The combination of these forward and rotational gaits can be used to stabilize the robot onto a desired trajectory.
UR - http://www.scopus.com/inward/record.url?scp=84958166695&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353684
DO - 10.1109/IROS.2015.7353684
M3 - منشور من مؤتمر
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2285
EP - 2290
BT - IROS Hamburg 2015 - Conference Digest
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -