ME335: Bio-inspired Robotics Locomotion

Dr. Atul Thakur Mechanical Engineering Department IIT Patna Aquatic Locomotion Terminologies

 BCF locomotion- Use of body and caudal fin  MPF locomotion- Use their  median fins i.e., anal and dorsal fin  paired fins i.e., pectoral fins  Undulatory locomotion- passage of a wave along the propulsive structure  Oscillatory loc0motion- Swiveling of propulsive structures  Combination- Makes use of undulatory and oscillatory motion

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Locomotion

Fish Locomotion

Body and Median and caudal fin paired fin (BCF) (MPF)

Combination Undulatory Oscillatory Undulatory Oscillatory of undulatory motion motion motion of fins motion of fins and oscillatory

4 Classification of swimming locomotion is presented9/3/2019 9:30:02 AM 5 9/3/2019 9:30:02 AM Types of BCF Locomotion

UNDULATORY OSCILLATORY

Anguilliform Thunniform

Subcarangiform Ostraciiform

Carangiform

Anguilliform  Whole body participates in large amplitude of undulations  Body contains one complete wavelength of oscillation

pleph.appspot.com  e.g.- Eel

7 Representative Robots

Robot Sensors Actuators Controller Biorobotic Stretch Sensors Servomotors Central Pattern Lamprey (Manfredi et and Magnets Generator al., 2013) Anguilliform Camera Servomotors Central Pattern Robotic Fish (Niu et Generator al., 2013)

Biorobotic Anguilliform Lamprey (Manfredi et al., 2013) Robotic Fish (Niu et al., 2013) 8 Subcarangiform and Carangiform  Amplitude of the undulations is in a limited amount at the anterior position  Increases only in the posterior half of the body

 e.g.- Trout fish

9 Representative Robots

Robot Sensors Actuators FILOSE Fish-like Robot (Daou Pressure Sensor Servomotors et al., 2014)

Motor-less and Gear-less Bio- Shape Memory Alloy (SMA) Shape Memory Alloy (SMA) mimetic Robotic Fish (Rossi et al., 2011)

FILOSE Fish-like Robot (Daou et al., 2014) Motor-less and Gear-less Bio- 10 mimetic Robotic Fish (Rossi et al., 2011) Representative Robots

Robot Sensors Actuators Essex MT1 Robotic Fish (Liu et Pressure Sensor, Servomotors al., 2010) Compass, Infrared Sensors and an Inclinometer Fish-like Robot (Epps et al., Camera Servomotor 2009)

Essex MT1 Robotic Fish (Liu et al., 2010) Fish-like Robot (Epps et al., 2009) 11 Ostraciiform  Purely oscillatory BCF mode  Pendulum-like oscillation of the (stiff) caudal fin.  Characterized by low hydrodynamic efficiency  e.g.- Boxfish

12 Representative Robots

Robot Sensors Actuators Controller Boxy-bot (Lachat et Light Sensors, Water DC Motors Central Pattern al., 2006) Sensors and Generator Accelerometer Osctaciiform Fish Inertial Measurement Servomotors Motion Controller. Robot (Chan et al., Unit 2007)

Boxy-bot (Lachat et al., 2006) Osctaciiform Fish Robot (Chan et al., 13 2007)

Types of MPF Locomotion

UNDULATORY OSCILLATORY COMBINATION

Diodontiform Labriform Gymnotiform Rajiiform Amiiform Tetraodontiform Balistiform

Diodontiform  Undulatory motion of pectoral fins of moderate length  Pectoral fins may lie at a certain angle with each other (complementary)  e.g.- Porcupine-fish

15 Representative Robots

Robot Sensors Actuators Free Swimming Fin Pressure Sensors, Servomotors Actuated Underwater Vehicles Compass and Camera (Morgansen 2007)

16 Free Swimming Fin Actuated Underwater Vehicles (Morgansen 2007)

Gymnotiform  Undulation of elongated anal fin helps in propulsion of the fish  Fishes have narrow body  E.g.- Knife-fish.

17 Representative Robots

Robot Sensors Actuators Robotic Knifefish ( Curet et Sensing System Motors al., 2011) Based on eslf generated Discharges of Electricity and Force Sensor NKF-II (Low 2009) Pitch and Servomotors Depth Sensors

18 Robotic Knifefish ( Curet et al., 2011) NKF-II (Low 2009 )

Rajiform  Undulation or oscillation of broad and extended pectoral fins  Fins  Pectoral fins have sharp angle of attack  E.g.- Butterfly Ray

19 Representative Robots

Robot Sensors Actuators RoMan-II (Zhou and Low Pressure DC motor 2012) Sensor Bionic Pectoral Potentiometer Motors Fin Based Cow- and Torque Nosed Ray Robot (Cai et al., ) Sensor

RoMan-II (Zhou and Low 2012) 20 Bionic Pectoral Fin Based Cow- Nosed Ray Robot (Cai et al., 2010)

Design characteristics of various BCF locomotion patterns

Design Criteria Anguilliform Subcarangiform Carangiform Ostraciiform Speed Low Low High Low

Maneuverability Medium to high Low Low Low

Ease of Control Low to Medium High High High Design Medium to high Low Low Low Complexity

21 Design characteristics of various MPF locomotion patterns

Design Criteria Diodontiform Gymnotiform Rajiform Labriform Speed Medium Medium Low to Medium Low

Maneuverability Low High Low to High Low

Ease of Control High Low Low to High High Design Low High Low to High Low Complexity

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