1
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Zhu Q. Wall effect on the start maneuver of a jet swimmer. BIOINSPIRATION & BIOMIMETICS 2023; 18:036003. [PMID: 36889000 DOI: 10.1088/1748-3190/acc293] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2022] [Accepted: 03/08/2023] [Indexed: 06/18/2023]
Abstract
Inspired by aquatic creatures such as squid, the novel propulsion method based on pulsed jetting is a promising way to achieve high speed and high maneuverability. To study the potential application of this locomotion method in confined space with complicated boundary conditions, it is critical to understand their dynamics in the vicinity of solid boundaries. In this study we numerically examine the start maneuver of an idealized jet swimmer near a wall. Our simulations illustrate three important mechanisms: (1) due to the blocking effect of the wall the pressure inside the body is affected so that the forward acceleration is increased during deflation and decreased during inflation; (2) the wall affects the internal flow so that the momentum flux at the nozzle and subsequently the thrust generation during the jetting phase are slightly increased; (3) the wall affects the wake so that the refilling phase is influenced, leading to a scenario in which part of the energy expended during jetting is recovered during refilling to increase forward acceleration and reduce power expenditure. In general, the second mechanism is weaker than the other two. The exact effects of these mechanisms depend on physical parameters such as the initial phase of the body deformation, the distance between the swimming body and the wall, and the Reynolds number.
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Affiliation(s)
- Qiang Zhu
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
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2
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Zheng L, Tang Y, Guo S, Ma Y, Deng L. Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot. MICROMACHINES 2022; 13:2130. [PMID: 36557429 PMCID: PMC9784272 DOI: 10.3390/mi13122130] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/24/2022] [Revised: 11/23/2022] [Accepted: 11/28/2022] [Indexed: 06/17/2023]
Abstract
A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired amphibious spherical robot (ASR) can realise the path-planning control movement and achieve collision avoidance. Due to the special underwater environments, thrusters and diamond parallel legs (DPLs) are installed in the lower hemisphere to realise accurate motion control. A propulsion model for a novel water-jet thruster based on experimental analysis and a modified Denavit-Hartenberg (MDH) algorithm are developed for multiple degrees of freedom (MDOF) to realize high-precision and high-speed motion control. Simulations and experiments verify that the effectiveness of the GCOP and SQP algorithms can realize reasonable path planning and make it possible to improve the flexibility of underwater movement with a small estimation error.
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Affiliation(s)
- Liang Zheng
- School of Electronic Information Science and Technology, Jilin Agricultural Science and Technology University, Jilin 132101, China
| | - You Tang
- School of Electronic Information Science and Technology, Jilin Agricultural Science and Technology University, Jilin 132101, China
| | - Shuxiang Guo
- Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology, the Ministry of Industry Information Technology, School of Life Science, Beijing Institute of Technology, Haidian District, Beijing 100081, China
| | - Yuke Ma
- School of Artificial Intelligence, Changchun University of Science and Technology, Changchun 130022, China
| | - Lijin Deng
- School of Artificial Intelligence, Changchun University of Science and Technology, Changchun 130022, China
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3
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Zhu Q, Xiao Q. Physics and applications of squid-inspired jetting. BIOINSPIRATION & BIOMIMETICS 2022; 17:041001. [PMID: 35512671 DOI: 10.1088/1748-3190/ac6d37] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/05/2022] [Accepted: 05/05/2022] [Indexed: 06/14/2023]
Abstract
In the aquatic world jet propulsion is a highly successful locomotion method utilized by a variety of species. Among them cephalopods such as squids excel in their ability for high-speed swimming. This mechanism inspires the development of underwater locomotion techniques which are particularly useful in soft-bodied robots. In this overview we summarize existing studies on this topic, ranging from investigations on the underlying physics to the creation of mechanical systems utilizing this locomotion mode. Research directions that worth future investigation are also discussed.
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Affiliation(s)
- Qiang Zhu
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
| | - Qing Xiao
- Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, G4 0LZ, United Kingdom
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4
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Mohanty S, Paul A, Matos PM, Zhang J, Sikorski J, Misra S. CeFlowBot: A Biomimetic Flow-Driven Microrobot that Navigates under Magneto-Acoustic Fields. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2105829. [PMID: 34889051 DOI: 10.1002/smll.202105829] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/23/2021] [Revised: 11/19/2021] [Indexed: 06/13/2023]
Abstract
Aquatic organisms within the Cephalopoda family (e.g., octopuses, squids, cuttlefish) exist that draw the surrounding fluid inside their bodies and expel it in a single jet thrust to swim forward. Like cephalopods, several acoustically powered microsystems share a similar process of fluid expulsion which makes them useful as microfluidic pumps in lab-on-a-chip devices. Herein, an array of acoustically resonant bubbles are employed to mimic this pumping phenomenon inside an untethered microrobot called CeFlowBot. CeFlowBot contains an array of vibrating bubbles that pump fluid through its inner body thereby boosting its propulsion. CeFlowBots are later functionalized with magnetic layers and steered under combined influence of magnetic and acoustic fields. Moreover, acoustic power modulation of CeFlowBots is used to grasp nearby objects and release it in the surrounding workspace. The ability of CeFlowBots to navigate remote environments under magneto-acoustic fields and perform targeted manipulation makes such microrobots useful for clinical applications such as targeted drug delivery. Lastly, an ultrasound imaging system is employed to visualize the motion of CeFlowBots which provides means to deploy such microrobots in hard-to-reach environments inaccessible to optical cameras.
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Affiliation(s)
- Sumit Mohanty
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Aniruddha Paul
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
- School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, SE-100 44, Sweden
| | - Pedro M Matos
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Jiena Zhang
- Vascularization Lab, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen and University Medical Center Groningen, Groningen, AV 9713, The Netherlands
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5
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Hwang D, Barron EJ, Haque ABMT, Bartlett MD. Shape morphing mechanical metamaterials through reversible plasticity. Sci Robot 2022; 7:eabg2171. [PMID: 35138882 DOI: 10.1126/scirobotics.abg2171] [Citation(s) in RCA: 33] [Impact Index Per Article: 16.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Biological organisms such as the octopus can reconfigure their shape and properties to perform diverse tasks. However, soft machines struggle to achieve complex configurations, morph into shape to support loads, and go between multiple states reversibly. Here, we introduce a multifunctional shape-morphing material with reversible and rapid polymorphic reconfigurability. We couple elastomeric kirigami with an unconventional reversible plasticity mechanism in metal alloys to rapidly (<0.1 seconds) morph flat sheets into complex, load-bearing shapes, with reversibility and self-healing through phase change. This kirigami composite overcomes trade-offs in deformability and load-bearing capacity and eliminates power requirements to sustain reconfigured shapes. We demonstrate this material through integration with onboard control, motors, and power to create a soft robotic morphing drone, which autonomously transforms from a ground to air vehicle and an underwater morphing machine, which can be reversibly deployed to collect cargo.
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Affiliation(s)
- Dohgyu Hwang
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA 24061, USA.,Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
| | - Edward J Barron
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA 24061, USA.,Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
| | - A B M Tahidul Haque
- Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
| | - Michael D Bartlett
- Macromolecules Innovation Institute, Virginia Tech, Blacksburg, VA 24061, USA.,Department of Mechanical Engineering, Soft Materials and Structures Lab, Virginia Tech, Blacksburg, VA 24061, USA
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6
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Bi X, Zhu Q. Free swimming of a squid-inspired axisymmetric system through jet propulsion. BIOINSPIRATION & BIOMIMETICS 2021; 16:066023. [PMID: 34654001 DOI: 10.1088/1748-3190/ac3061] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/30/2021] [Accepted: 10/15/2021] [Indexed: 06/13/2023]
Abstract
An axisymmetric fluid-structure interaction model based on the immersed-boundary approach is developed to study the self-propelled locomotion of a squid-inspired swimmer in relatively low Reynolds numbers (O(102)). Through cyclic deformation, the swimmer generates intermittent jet flow, which, together with the added-mass effect associated with the body deformation, provides thrust. Through a control volume analysis we are able to determine the jet-related thrust. By adding it to the added-mass-related thrust we separate the net thrust on the body from the drag effect due to forward motion, so that the propulsion efficiency in free swimming is found. This numerical algorithm and thrust-drag decomposition method are used to study the dynamics of the bio-inspired locomotion system in different conditions, whereby the performance is characterized by the aforementioned propulsion efficiency as well as the conventionally defined cost of transport.
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Affiliation(s)
- Xiaobo Bi
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
| | - Qiang Zhu
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
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7
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Yang Z, Chen D, Levine DJ, Sung C. Origami-Inspired Robot That Swims via Jet Propulsion. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3097757] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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8
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Gemmell BJ, Dabiri JO, Colin SP, Costello JH, Townsend JP, Sutherland KR. Cool your jets: biological jet propulsion in marine invertebrates. J Exp Biol 2021; 224:269180. [PMID: 34137893 DOI: 10.1242/jeb.222083] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
Abstract
Pulsatile jet propulsion is a common swimming mode used by a diverse array of aquatic taxa from chordates to cnidarians. This mode of locomotion has interested both biologists and engineers for over a century. A central issue to understanding the important features of jet-propelling animals is to determine how the animal interacts with the surrounding fluid. Much of our knowledge of aquatic jet propulsion has come from simple theoretical approximations of both propulsive and resistive forces. Although these models and basic kinematic measurements have contributed greatly, they alone cannot provide the detailed information needed for a comprehensive, mechanistic overview of how jet propulsion functions across multiple taxa, size scales and through development. However, more recently, novel experimental tools such as high-speed 2D and 3D particle image velocimetry have permitted detailed quantification of the fluid dynamics of aquatic jet propulsion. Here, we provide a comparative analysis of a variety of parameters such as efficiency, kinematics and jet parameters, and review how they can aid our understanding of the principles of aquatic jet propulsion. Research on disparate taxa allows comparison of the similarities and differences between them and contributes to a more robust understanding of aquatic jet propulsion.
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Affiliation(s)
- Brad J Gemmell
- Department of Integrative Biology, University of South Florida, Tampa, Florida 33620, USA
| | - John O Dabiri
- Graduate Aerospace Laboratories and Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California 91125, USA
| | - Sean P Colin
- Department of Marine Biology and Environmental Science, Roger Williams University, Bristol, Rhode Island 02809, USA
| | - John H Costello
- Department of Biology, Providence College, Providence, Rhode Island 02918, USA
| | - James P Townsend
- Department of Biology, Providence College, Providence, Rhode Island 02918, USA
| | - Kelly R Sutherland
- Oregon Institute of Marine Biology, University of Oregon, Eugene, Oregon 97403, USA
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9
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Arakawa K, Giorgio-Serchi F, Mochiyama H. Snap Pump: A Snap-Through Mechanism for a Pulsatile Pump. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3052416] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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10
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Li G, Chen X, Zhou F, Liang Y, Xiao Y, Cao X, Zhang Z, Zhang M, Wu B, Yin S, Xu Y, Fan H, Chen Z, Song W, Yang W, Pan B, Hou J, Zou W, He S, Yang X, Mao G, Jia Z, Zhou H, Li T, Qu S, Xu Z, Huang Z, Luo Y, Xie T, Gu J, Zhu S, Yang W. Self-powered soft robot in the Mariana Trench. Nature 2021; 591:66-71. [DOI: 10.1038/s41586-020-03153-z] [Citation(s) in RCA: 194] [Impact Index Per Article: 64.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/23/2020] [Accepted: 12/21/2020] [Indexed: 01/19/2023]
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11
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Christianson CM, Cui Y, Ishida M, Bi X, Zhu Q, Pawlak G, Tolley MT. Cephalopod-inspired robot capable of cyclic jet propulsion through shape change. BIOINSPIRATION & BIOMIMETICS 2020; 16:016014. [PMID: 32992299 DOI: 10.1088/1748-3190/abbc72] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
The compliance and conformability of soft robots provide inherent advantages when working around delicate objects or in unstructured environments. However, rapid locomotion in soft robotics is challenging due to the slow propagation of motion in compliant structures, particularly underwater. Cephalopods overcome this challenge using jet propulsion and the added mass effect to achieve rapid, efficient propulsion underwater without a skeleton. Taking inspiration from cephalopods, here we present an underwater robot with a compliant body that can achieve repeatable jet propulsion by changing its internal volume and cross-sectional area to take advantage of jet propulsion as well as the added mass effect. The robot achieves a maximum average thrust of 0.19 N and maximum average and peak swimming speeds of 18.4 cm/s (0.54 body lengths/s) and 32.1 cm/s (0.94 BL/s), respectively. We also demonstrate the use of an onboard camera as a sensor for ocean discovery and environmental monitoring applications.
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Affiliation(s)
| | - Yi Cui
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, UNITED STATES
| | - Michael Ishida
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, UNITED STATES
| | - Xiaobo Bi
- Department of Structural Engineering, University of California San Diego, La Jolla, California, UNITED STATES
| | - Qiang Zhu
- Department of Structural Engineering, University of California San Diego, La Jolla, California, UNITED STATES
| | - Geno Pawlak
- Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, UNITED STATES
| | - Michael T Tolley
- University of California San Diego, La Jolla, California, 92093, UNITED STATES
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12
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Zheng L, Guo S, Piao Y, Gu S, An R. Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots. MICROMACHINES 2020; 11:mi11010071. [PMID: 31936534 PMCID: PMC7019840 DOI: 10.3390/mi11010071] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/10/2019] [Revised: 01/02/2020] [Accepted: 01/07/2020] [Indexed: 11/16/2022]
Abstract
Amphibious Spherical Robots (ASRs) use an electric field to communicate and collaborate effectively in a turbid water of confined spaces where other mode communication modalities failed. This paper proposes an embedded architecture formation strategy for a group of turtle-inspired amphibious robots to maintain a long distance-parameterized path based on dynamic visual servoing. Inspired by this biological phenomenon, we design an artificial multi-robot cooperative mode and explore an electronic communication and collaborate devices, the control method is based in particular on underwater environment and also conduct a detailed analysis of control motion module. The objectives of control strategies are divided into four categories: The first strategy is that the leader robot controls the action of the overall robots to maintain collaborate together during motion along a desired geometric path and to follow a timing law that the communication efficiency and the arrival times to assigned sites. Furthermore, we design an adaptive visual servoing controller for trajectory tracking task, taking into account system dynamics with environment interactions. After that, the third strategy is a centralized optimization algorithm for the redistribution of target mission changes. Finally, this paper also proposes a new method of control strategies in order to guarantee that each robot in the team moves together according to the preset target toward its location in the group formation based on communication and stability modules.
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Affiliation(s)
- Liang Zheng
- Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan; (L.Z.); (R.A.)
- Jilin Agricultural Science and Technology University, Jilin 132101, China
- Changchun University of Science and Technology, Changchun 130022, China
| | - Shuxiang Guo
- Department of Intelligent Mechanical Systems Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan
- Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology, the Ministry of Industry Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China
- Correspondence: (S.G.); (Y.P.); Tel.: +81-090-1174-6358 (S.G.)
| | - Yan Piao
- Changchun University of Science and Technology, Changchun 130022, China
- Correspondence: (S.G.); (Y.P.); Tel.: +81-090-1174-6358 (S.G.)
| | - Shuoxin Gu
- School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China;
| | - Ruochen An
- Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan; (L.Z.); (R.A.)
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13
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Bi X, Zhu Q. Dynamics of a squid-inspired swimmer in free swimming. BIOINSPIRATION & BIOMIMETICS 2019; 15:016005. [PMID: 31726438 DOI: 10.1088/1748-3190/ab57e4] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
The untethered swimming performance of a two-dimensional squid-inspired swimmer is studied. Our model includes fully-coupled fluid-structure interaction and an idealized activation algorithm that drives periodic shape change of the body. We present results of both escape jetting via a single deflation-coasting motion and long-distance swimming via repeated inflation-deflation cycles. In both cases added-mass-related force is found to contribute significantly to thrust generation. Moreover, we find that the increase of the jet speed and oscillation frequency leads to higher swimming velocity. This, however, is achieved at the cost of reduced propulsion efficiency (i.e. higher cost of transport). During long-distance swimming, the system experiences three successive stages, acceleration, steady-state swimming, and off-track swimming caused by symmetry-breaking instability in the wake. Associated with these stages, three wake patterns are observed, nozzle-vortex-dominated wake, transit wake, and asymmetrical wake.
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Affiliation(s)
- Xiaobo Bi
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
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14
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15
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Schmitt F, Piccin O, Barbé L, Bayle B. Soft Robots Manufacturing: A Review. Front Robot AI 2018; 5:84. [PMID: 33500963 PMCID: PMC7805834 DOI: 10.3389/frobt.2018.00084] [Citation(s) in RCA: 125] [Impact Index Per Article: 20.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/22/2017] [Accepted: 06/25/2018] [Indexed: 11/13/2022] Open
Abstract
The growing interest in soft robots comes from the new possibilities offered by these systems to cope with problems that cannot be addressed by robots built from rigid bodies. Many innovative solutions have been developed in recent years to design soft components and systems. They all demonstrate how soft robotics development is closely dependent on advanced manufacturing processes. This review aims at giving an insight on the current state of the art in soft robotics manufacturing. It first puts in light the elementary components that can be used to develop soft actuators, whether they use fluids, shape memory alloys, electro-active polymers or stimuli-responsive materials. Other types of elementary components, such as soft smart structures or soft-rigid hybrid systems, are then presented. The second part of this review deals with the manufacturing methods used to build complete soft structures. It includes molding, with possibly reinforcements and inclusions, additive manufacturing, thin-film manufacturing, shape deposition manufacturing, and bonding. The paper conclusions sums up the pros and cons of the presented techniques, and open to developing topics such as design methods for soft robotics and sensing technologies.
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Affiliation(s)
- François Schmitt
- ICube laboratory, University of Strasbourg/INSA Strasbourg/CNRS, Strasbourg, France
| | - Olivier Piccin
- ICube laboratory, University of Strasbourg/INSA Strasbourg/CNRS, Strasbourg, France
| | - Laurent Barbé
- ICube laboratory, University of Strasbourg/INSA Strasbourg/CNRS, Strasbourg, France
| | - Bernard Bayle
- ICube laboratory, University of Strasbourg/INSA Strasbourg/CNRS, Strasbourg, France
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16
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Bi X, Zhu Q. Numerical investigation of cephalopod-inspired locomotion with intermittent bursts. BIOINSPIRATION & BIOMIMETICS 2018; 13:056005. [PMID: 29972142 DOI: 10.1088/1748-3190/aad0ff] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Inspired by recent studies about the fluid dynamics of cephalopods in their escaping swimming mode, we propose a novel design of an underwater propulsion system using a deformable body with pressure chamber, which propels itself in burst-coast cycles through a combined effect of pulsed jet and added-mass related thrust. To investigate the performance of this system we create a free-swimming computational model-the body deformation is prescribed yet the forward motion is driven by hydrodynamic forces. Our focus is on a single bursting cycle, which corresponds to the case that the system rests between bursts. The results can also be applied to the starting stage of a continuous cruising motion. A numerical model using the boundary element method is developed to computationally study the swimming process and the dynamic characteristics of this system. The results show that in the bursting phase its peak speed depends on the size of the body, the deformation time, the amount of volume change during the deformation, and the size of the nozzle where the jet flow is generated. The optimal speed is found to coincide with the critical formation number, indicating that the formation of vortex rings in the wake plays a pivotal role in the dynamics of the system. The dynamics of the system in the coasting phase and the process of refilling the pressure chamber are also studied.
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Affiliation(s)
- Xiaobo Bi
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
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17
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Renda F, Giorgio-Serchi F, Boyer F, Laschi C, Dias J, Seneviratne L. A unified multi-soft-body dynamic model for underwater soft robots. Int J Rob Res 2018. [DOI: 10.1177/0278364918769992] [Citation(s) in RCA: 28] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.
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Affiliation(s)
- Federico Renda
- Robotics Institute, Khalifa University of Science and Technology, Abu Dhabi, UAE
| | | | | | - Cecilia Laschi
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Jorge Dias
- Robotics Institute, Khalifa University of Science and Technology, Abu Dhabi, UAE
| | - Lakmal Seneviratne
- Robotics Institute, Khalifa University of Science and Technology, Abu Dhabi, UAE
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18
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Zou J, Lin Y, Ji C, Yang H. A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion. Soft Robot 2018; 5:164-174. [DOI: 10.1089/soro.2017.0008] [Citation(s) in RCA: 62] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Affiliation(s)
- Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yangqiao Lin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Chen Ji
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
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19
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Calisti M, Picardi G, Laschi C. Fundamentals of soft robot locomotion. J R Soc Interface 2017; 14:20170101. [PMID: 28539483 PMCID: PMC5454300 DOI: 10.1098/rsif.2017.0101] [Citation(s) in RCA: 86] [Impact Index Per Article: 12.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/10/2017] [Accepted: 04/27/2017] [Indexed: 11/12/2022] Open
Abstract
Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.
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Affiliation(s)
- M Calisti
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy
| | - G Picardi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy
| | - C Laschi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy
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Giorgio-Serchi F, Arienti A, Corucci F, Giorelli M, Laschi C. Hybrid parameter identification of a multi-modal underwater soft robot. BIOINSPIRATION & BIOMIMETICS 2017; 12:025007. [PMID: 28140363 DOI: 10.1088/1748-3190/aa5ccc] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/06/2023]
Abstract
We introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient.
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Affiliation(s)
- F Giorgio-Serchi
- Fluid Structure Interaction Research Group, University of Southampton, Southampton SO16 7QL, United Kingdom
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Underwater Soft Robotics, the Benefit of Body-Shape Variations in Aquatic Propulsion. SOFT ROBOTICS: TRENDS, APPLICATIONS AND CHALLENGES 2017. [DOI: 10.1007/978-3-319-46460-2_6] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/10/2023]
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Coupling Motion and Energy Harvesting of Two Side-by-Side Flexible Plates in a 3D Uniform Flow. APPLIED SCIENCES-BASEL 2016. [DOI: 10.3390/app6050141] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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