RoboKrill : a metachronal drag-based swimmer robot
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments. Bio-inspired robots are a promising solution for highly man...
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Online Access: | https://dx.doi.org/10.48550/arxiv.2202.01037 https://arxiv.org/abs/2202.01037 |
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ftdatacite:10.48550/arxiv.2202.01037 2023-05-15T16:08:28+02:00 RoboKrill : a metachronal drag-based swimmer robot Santos, Sara Oliveira Cuenca-Jiménez, Francisco Gomez-Valdez, P. Antonio Morales-Lopez, Oscar Wilhelmus, Monica M. 2022 https://dx.doi.org/10.48550/arxiv.2202.01037 https://arxiv.org/abs/2202.01037 unknown arXiv Creative Commons Attribution Non Commercial Share Alike 4.0 International https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode cc-by-nc-sa-4.0 CC-BY-NC-SA Robotics cs.RO Biological Physics physics.bio-ph FOS Computer and information sciences FOS Physical sciences Article CreativeWork article Preprint 2022 ftdatacite https://doi.org/10.48550/arxiv.2202.01037 2022-03-10T10:41:09Z Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments. Bio-inspired robots are a promising solution for highly maneuverable underwater swimming at moderate speeds. Krill, especially, are efficient swimmers in the intermediate Reynolds number regime and can inform engineering solutions for ocean exploration. In this paper, we present the design, manufacture, and validation of a new krill-inspired, metachronal, drag-based robotic system. By combining active and passive actuation of the joints with 3D printed parts, our unique design recreates the swimming kinematics of Euphausia superba in a compact and reproducible robotic platform. The motion of the anterior and posterior appendage segments is achieved using servo motors and a multi-link mechanism, while the out-of-plane motion of the biramous distal segments is attained via fluid-structure interactions. Going forward, our platform will be leveraged to study metachronal, drag-based swimmers across taxa to identify unifying success mechanisms at different scales, facilitating the development of a new generation of underwater robots. Article in Journal/Newspaper Euphausia superba DataCite Metadata Store (German National Library of Science and Technology) |
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Robotics cs.RO Biological Physics physics.bio-ph FOS Computer and information sciences FOS Physical sciences |
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Robotics cs.RO Biological Physics physics.bio-ph FOS Computer and information sciences FOS Physical sciences Santos, Sara Oliveira Cuenca-Jiménez, Francisco Gomez-Valdez, P. Antonio Morales-Lopez, Oscar Wilhelmus, Monica M. RoboKrill : a metachronal drag-based swimmer robot |
topic_facet |
Robotics cs.RO Biological Physics physics.bio-ph FOS Computer and information sciences FOS Physical sciences |
description |
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments. Bio-inspired robots are a promising solution for highly maneuverable underwater swimming at moderate speeds. Krill, especially, are efficient swimmers in the intermediate Reynolds number regime and can inform engineering solutions for ocean exploration. In this paper, we present the design, manufacture, and validation of a new krill-inspired, metachronal, drag-based robotic system. By combining active and passive actuation of the joints with 3D printed parts, our unique design recreates the swimming kinematics of Euphausia superba in a compact and reproducible robotic platform. The motion of the anterior and posterior appendage segments is achieved using servo motors and a multi-link mechanism, while the out-of-plane motion of the biramous distal segments is attained via fluid-structure interactions. Going forward, our platform will be leveraged to study metachronal, drag-based swimmers across taxa to identify unifying success mechanisms at different scales, facilitating the development of a new generation of underwater robots. |
format |
Article in Journal/Newspaper |
author |
Santos, Sara Oliveira Cuenca-Jiménez, Francisco Gomez-Valdez, P. Antonio Morales-Lopez, Oscar Wilhelmus, Monica M. |
author_facet |
Santos, Sara Oliveira Cuenca-Jiménez, Francisco Gomez-Valdez, P. Antonio Morales-Lopez, Oscar Wilhelmus, Monica M. |
author_sort |
Santos, Sara Oliveira |
title |
RoboKrill : a metachronal drag-based swimmer robot |
title_short |
RoboKrill : a metachronal drag-based swimmer robot |
title_full |
RoboKrill : a metachronal drag-based swimmer robot |
title_fullStr |
RoboKrill : a metachronal drag-based swimmer robot |
title_full_unstemmed |
RoboKrill : a metachronal drag-based swimmer robot |
title_sort |
robokrill : a metachronal drag-based swimmer robot |
publisher |
arXiv |
publishDate |
2022 |
url |
https://dx.doi.org/10.48550/arxiv.2202.01037 https://arxiv.org/abs/2202.01037 |
genre |
Euphausia superba |
genre_facet |
Euphausia superba |
op_rights |
Creative Commons Attribution Non Commercial Share Alike 4.0 International https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode cc-by-nc-sa-4.0 |
op_rightsnorm |
CC-BY-NC-SA |
op_doi |
https://doi.org/10.48550/arxiv.2202.01037 |
_version_ |
1766404520376532992 |