A Motor-less and Gear-less Bio-mimetic Robotic Fish Design
In this paper, we describe our current work on bio-inspired locomotion systems using a deformable structure and smart materials, concretely Shape Memory Alloys, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot has been developed whose movements are generated using such actuators, used for bending the backbone of the fish, which in turn causes a change on the curvature of the body. This paper focuses on how standard swimming patterns can be reproduced with the proposed design, using an actuation dynamics model identified in prior work.
C. Rossi W. Coral J. Colorado A. Barrientos
Centre for Automation and Robotics Universidad Polit(e)cnica de Madrid Madrid,Spain
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3646-3651
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）