It is common for scientists to look to nature for inspiration in developing robots. Many times biological creatures outperform even the best man made robots. We will be focusing on aquatic locomotion of robots inspired by the locomotion of fish. There are two different means of propulsion of the robots tested in this paper. One model of the robot is propelled only through the oscillations of an internal momentum wheel, while the other is propelled by the direct actuation of a tail structure. Both of these models achieve net propulsion through vortex shedding past their trailing edge, and two of the robots locomotion is also aided by the change in shape from either a passive or active tail. Tests were conducted to highlight the locomotion performance differences of the two different means of locomotion.
- Dynamic Systems and Control Division
Direct Tail Actuation vs Internal Rotor Propulsion in Aquatic Robots
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Pollard, B, Berkey, T, & Tallapragada, P. "Direct Tail Actuation vs Internal Rotor Propulsion in Aquatic Robots." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T30A008. ASME. https://doi.org/10.1115/DSCC2017-5208
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