Abstract:
:In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.
journal_name
Bioinspir Biomimjournal_title
Bioinspiration & biomimeticsauthors
Rossi C,Colorado J,Coral W,Barrientos Adoi
10.1088/1748-3182/6/4/045005subject
Has Abstractpub_date
2011-12-01 00:00:00pages
045005issue
4eissn
1748-3182issn
1748-3190pii
S1748-3182(11)92287-Xjournal_volume
6pub_type
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