An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
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arXiv
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| Auteurs principaux: | , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866916464416522240 |
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| author | Zhao, Luyang Jiang, Yitao She, Chun-Yi Jeong, Mingi Dong, Haibo Li, Alberto Quattrini Chen, Muhao Balkcom, Devin |
| author_facet | Zhao, Luyang Jiang, Yitao She, Chun-Yi Jeong, Mingi Dong, Haibo Li, Alberto Quattrini Chen, Muhao Balkcom, Devin |
| contents | This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot. While existing robotic dolphins typically use revolute joints to articulate rigid bodies, our design -- which will be made opensource -- incorporates a flexible tail with tunable silicone skin and actuation flexibility via a cable-driven system, which mimics muscle dynamics and design flexibility with a tunable skeleton structure. The design is also tunable since the backbone can be easily printed in various geometries. The paper provides insights into how a few such variations affect robot motion and efficiency, measured by speed and cost of transport (COT). This approach demonstrates the potential of achieving dolphin-like motion through enhanced flexibility in bio-inspired robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_00347 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion Zhao, Luyang Jiang, Yitao She, Chun-Yi Jeong, Mingi Dong, Haibo Li, Alberto Quattrini Chen, Muhao Balkcom, Devin Robotics Artificial Intelligence This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot. While existing robotic dolphins typically use revolute joints to articulate rigid bodies, our design -- which will be made opensource -- incorporates a flexible tail with tunable silicone skin and actuation flexibility via a cable-driven system, which mimics muscle dynamics and design flexibility with a tunable skeleton structure. The design is also tunable since the backbone can be easily printed in various geometries. The paper provides insights into how a few such variations affect robot motion and efficiency, measured by speed and cost of transport (COT). This approach demonstrates the potential of achieving dolphin-like motion through enhanced flexibility in bio-inspired robotics. |
| title | An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2411.00347 |