Biomimetic Actuation Method for a Miniature, Low-Cost Multi-jointed Robotic Fish

Katerina Soltan, Jamie O'Brien, Jeff Dusek, Florian Berlinger, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper presents the Miniature Oscillating Robot Agent (MORA). MORA is a small (12 cm) and low-cost (100) robotic fish which was designed to demonstrate a biomimetic actuation method for efficient swimming. Our goal is to enable the development of underwater robot swarms that can access tight, fragile environments and gather data from the perspective and scale of real fish. Conventional actuation methods are often too large, expensive, or mechanically complex to use in collective behavior applications, which to be practical must be easy to manufacture, low-cost, and small. We arranged six magnet-incoil (MIC) actuators, at 1/unit, in a multi-jointed configuration of three independently controlled joints. Oscillating the joints in a sinusoidal waveform allowed us to replicate the efficient undulatory body motion seen in fish. to replicate the efficient undulatory motion seen in fish. In initial straight-line swimming experiments, MORA achieved a speed of 0.37 BL/s with the potential for faster and more coordinated movement with further experimentation of MIC control settings.

Original languageEnglish (US)
Title of host publicationOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538648148
DOIs
StatePublished - Jan 7 2019
Externally publishedYes
EventOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States
Duration: Oct 22 2018Oct 25 2018

Publication series

NameOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Conference

ConferenceOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Country/TerritoryUnited States
CityCharleston
Period10/22/1810/25/18

All Science Journal Classification (ASJC) codes

  • Renewable Energy, Sustainability and the Environment
  • Oceanography

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