TY - GEN
T1 - A motor-less and gear-less bio-mimetic robotic fish design
AU - Rossi, C.
AU - Coral, W.
AU - Colorado, J.
AU - Barrientos, A.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84863608920
U2 - 10.1109/ICRA.2011.5979611
DO - 10.1109/ICRA.2011.5979611
M3 - Conference contribution
AN - SCOPUS:84863608920
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3646
EP - 3651
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -