Locomotion of Bioinspired Underwater Soft Robots with Structural Compliance - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Locomotion of Bioinspired Underwater Soft Robots with Structural Compliance write by Michael Ishida. This book was released on 2022. Locomotion of Bioinspired Underwater Soft Robots with Structural Compliance available in PDF, EPUB and Kindle. Mobile robots are commonly used to perform tasks in underwater environments that are difficult for humans to endure, such as exploration, long-duration measurements, or maintenance and repair of underwater structures. Traditional underwater robots are often bulky and disruptive to the environment around it and are often adapted from engineered systems that were designed for operation in air. However, the underwater fluid environment is significantly different from the in-air environment and motivates the development of new robot paradigms specifically to address the challenges that arise from the surrounding water. I have taken inspiration from nature, which has evolved fast and efficient mechanisms for underwater locomotion, to design soft, bioinspired walking and swimming robots. In this work, I have explored several ways to design mobile robots specifically for the underwater fluid environment. To mitigate the negative effects of flow on an underwater walking robot, I created a soft inflatable structure that can be attached to the robot to alter the lift and drag forces on the robot and increase traction in flow. To create locomotion independent of the flow on the robot, I designed soft suction discs and soft linear actuators that enable adhesive-based locomotion. By leveraging interactions with fluid, I created a steerable, shape-changing robot that uses vectored jet propulsion to swim through open water. This work has the potential to enable more efficient locomotion in underwater environments more closely resembling the capabilities of biological systems.
Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems
Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems write by Derek A. Paley. This book was released on 2020-11-06. Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems available in PDF, EPUB and Kindle. This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.
Robot Fish
Robot Fish - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Fish write by Ruxu Du. This book was released on 2015-05-06. Robot Fish available in PDF, EPUB and Kindle. This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.
Actuation for Bioinspired, Soft, Swimming Robots
Actuation for Bioinspired, Soft, Swimming Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Actuation for Bioinspired, Soft, Swimming Robots write by Caleb Christianson. This book was released on 2019. Actuation for Bioinspired, Soft, Swimming Robots available in PDF, EPUB and Kindle. It is often impractical or dangerous to send people to explore underwater environments. In these situations, it is preferable to send robots such as autonomous underwater vehicles or remotely operated vehicles instead. Unfortunately, robots impart their own risks: they are typically made of rigid materials that can become lodged in confined spaces or harm underwater creatures and structures. Additionally, propellers or jet thrusters are typically used for propulsion, which are power intensive, have low efficiency, and impose additional concerns of entanglement and damage to their environment. Finally, they generate considerable noise and vibration, thus adding to the ambient noise pollution and disturbing sea life, preventing researchers from being able to study more timid animals. In this dissertation, I describe physical mechanisms to develop bioinspired, soft, swimming robots with an emphasis on actuation. First, I present an approach to use an arrangement of six artificial muscles based on dielectric elastomer actuators (DEAs) to actuate a tethered robot capable of anguilliform-inspired locomotion. Next, I demonstrate pulsatile, jellyfish-inspired locomotion using DEAs with a simpler actuation and control strategy, enabling an untethered, soft, swimming robot. Finally, I explore an alternative actuation approach to achieve more robust locomotion in a cephalopod-inspired robot based on slowly storing elastic energy and then quickly releasing it to eject a pulsed jet for propulsion. The first two robots are silent and use actuators that have a high energy density and efficiency, but provide low output power and swim at low speeds. In the cephalopod-inspired robot, we trade silence and efficiency for power and speed. These results demonstrate actuation strategies for realizing bioinspired locomotion in soft, swimming robots that could be useful for structural diagnostics, environmental monitoring, or search and rescue.
Tailoring Artificial Muscles for the Design and Development of Soft Underwater Robots
Tailoring Artificial Muscles for the Design and Development of Soft Underwater Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Tailoring Artificial Muscles for the Design and Development of Soft Underwater Robots write by Yara Almubarak. This book was released on 2021. Tailoring Artificial Muscles for the Design and Development of Soft Underwater Robots available in PDF, EPUB and Kindle. Soft robots made out of highly deformable materials have many degrees of freedom similar to animals found in nature, and such robots are essential for numerous applications in harsh environments. Recently, soft robots are favored over rigid structures for their highly compliant material, high deformation properties at low forces and ability to operate in difficult (high pressure) environments. However, it is challenging to fabricate complex designs that satisfy application constraints due to the combined effects of material properties, actuation method, and structural geometry on the performance of the soft robot. Therefore, a robot must be comprised of both rigid and soft materials to achieve complex body morphologies. Specifically, underwater exploration or inspection requires suitable robotic systems capable of maneuvering, manipulating objects, and operating untethered in complex environmental conditions. Traditional robots have been used to perform many tasks underwater. However, they have limited degrees of freedom, limited manipulation capabilities, and have disruptive interactions with aquatic life. Research in biomimetic soft robotics seeks to incorporate the natural flexibility and agility of aquatic species into man-made technologies to improve its current capabilities. In this dissertation, we present different robotic structures for use in various exploratory and transportation missions. First, we start by characterizing unconventional artificial muscles used as the main actuators in the robots such as the twisted and coiled polymer fishing line (TCPFL) and NiTi shape memory alloy (SMA) actuators. As compared to current conventional actuators such as stepper motors and pnuematic systems, artificial muscles play a vital role in soft robotics due to their compliance, high strain, light weight, and low noise. Second, we show the design and testing of a fully functioning jellyfish like robot (Kryptojelly) that is capable of performing multidirectional swimming utilizing NiTi SMA actuators. Kryptojelly is a 260 mm bell diameter robot, constructed from a 3D printed rigid structure and a soft silicone bell that closely mimics the biological locomotion and appearance of a jellyfish species known as Chrysaora which has long tentacles. Third, an octopus-like robot (Kraken) having a 250 mm size dome, is presented that utilizes a hybrid actuation technology consisting of stepper motors and twisted and coiled polymer fishing line muscles (TCPFL). Kraken is equipped with interchangeable arm configurations that are actuated by both TCP muscles and stepper motors. We show Kraken operating wirelessly underwater in a swimming pool. Its soft arm structure helps grasp irregular objects underwater delicately. Fourth, we present a functionally graded (FGM) multidirectional 3D printed joint like soft robotic structure. The 3D printed structure is made of three rigid ball and socket joints connected in series, and actuated by twisted and coiled polymer fishing line (TCPFL) actuators, which are confined in the FGM accordion shaped channels. The FGM multidirectional joint is characterized and is shown performing different functionalities silently such as crawling, rolling, and bending while a camera is mounted at the tip of the structure. Moreover, experimental results of Kryptojelly performing underwater transportation tasks is demonstrated by picking a 70g object through electromagnet atatched to the robot. Swimming speeds of the robot while carrying trasporting tools are analyzed and presented, which is an effort to use soft robots in underwater repair tasks. Lastly, a simplified predictive model of the fishing line artificial muscles based on heat transfer is presented to estimate the actuation temperature and strain considering material properties, geometry and input parameters and validating the model results with experimental results. The work presented in this dissertation attempts to address the fundamental problems in actuation and design of soft robots and shows the great potential of employing artificial actuators in biomimetic soft robots, which can be deployed for eco-friendly exploratory missions or other applications.
