Development of a Bio-Inspired Underwater Robot Prototype with Undulatory Fin Propulsion

@inproceedings{Gliva2015DevelopmentOA,
  title={Development of a Bio-Inspired Underwater Robot Prototype with Undulatory Fin Propulsion},
  author={Roza Gliva and Minas Mountoufaris and Nektarios Spyridakis and Michael Sfakiotakis},
  year={2015}
}
This paper presents the design and experimental evaluation of an underwater robot that is propelled by a pair of lateral undulatory fins, inspired by the locomotion of rays and cuttlefish. Each fin mechanism is comprised of three individually actuated fin rays, which are interconnected by an elastic membrane. An on-board microcontroller generates the rays’ motion pattern that result in the fins’ undulations, through which propulsion is generated. The prototype, which is fully untethered and… CONTINUE READING

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Steering-plane motion control for an underwater robot with a pair of undulatory fin propulsors

  • 2016 24th Mediterranean Conference on Control and Automation (MED)
  • 2016
VIEW 2 EXCERPTS
CITES BACKGROUND & METHODS

Model-based fin ray joint tracking control for undulatory fin mechanisms

  • 2015 7th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)
  • 2015
VIEW 1 EXCERPT
CITES METHODS

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