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This paper presents the construction and control of a turtle-like underwater vehicle, which uses four single axis oscillation flippers for swimming and attitude control. The maneuvers are realized by the composition of appropriate angular offset, vibration amplitude and vibration frequency of the flippers. After analyzing the actuated flippers' motion and(More)
This paper reproduces the plunge-diving process of a biomimetic gannet through the CFD (Computational Fluid Dynamics) simulation. The numerical investigation of impulse force and pressure distribution on the designed biomimetic gannet when interacting with water is also presented. Three-dimensional computational transport equations based on the complete set(More)
Recent advances in understanding fish locomotion with robotic devices have included the use of biomimetic flapping based and fin undulatory locomotion based robots, treating two locomotions separately from each other. However, in most fish species, patterns of active movements of fins occur in concert with the body undulatory deformation during swimming. In(More)
A submersible unmanned aerial vehicle (UAV) is proposed firstly, which is capable of operating in both air and water. One of the outstanding characteristics of the UAV is that the air-water transition imitates that of a gannet, i.e., plunge-diving. In this paper, the plunge-diving process of this UAV is simplified as a water-entry problem with a certain(More)
In this paper, we present the design, fabrication and the mathematical model of an entire soft robotic arm with three-dimensional (3D) locomotion. We first describe the design of the soft arm based on 3D printed channels that were spatially distributed at the interface of two different silicone elastomeric materials which enable complex 3D motion of the(More)
A real submersible flying boat which is both flight-capable and submersible has hardly been reported yet. In this paper, the Flying Fish created by Beihang University will be introduced to verify the feasibility of this kind of novel aircraft. The Flying Fish achieves its ability to transfer between the air and the water by imitating the flying fish and(More)
to reveal the flippers propulsion and the self-adjustment mechanism, which can be used to inspire the design of submersible aircraft. This article makes some research on the bionic observation on the movement of cormorant's flippers during the surface take-off process, bringing forward a flippers propulsion theory, which there is a new undulate propulsion(More)
This paper conducted two biological observation experiments on cormorants, whose data concerns cormorants' weight, volume, area of webbed feet and area of their wings, and other data on density, wing loading and webbed feet loading is calculated as well. The average density is 0.738g/cm<sup>3</sup>, the average wing loading is 1.58 g/cm<sup>2</sup> and the(More)
Skid-steering mobile robots, both wheels and tracked vehicles, are widely used because of their simple mechanism and robust. However, due to the complex wheel-ground interactions and the kinematics constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop a kinematics modeling estimation(More)
In this paper, a novel method was presented to investigate the hydrodynamics of a robotic fish at different Reynolds number. The ionic polymer-metal composite (IPMC) was used as the soft actuator for biomimetic underwater propulsion. A hydrodynamic model based on the elongated body theory was developed. Based on image analysis, the kinematic parameters of(More)
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