Bending continuous structures with SMAs: a novel robotic fish design

Rossi, Claudio and Colorado Montaño, Julián and Coral Cuellar, William and Barrientos Cruz, Antonio (2011). Bending continuous structures with SMAs: a novel robotic fish design. "Bioinspiration & Biomimetics", v. 6 (n. 4); pp. 1-15. ISSN 1748-3190. https://doi.org/10.1088/1748-3182/6/4/045005.

Description

Title: Bending continuous structures with SMAs: a novel robotic fish design
Author/s:
  • Rossi, Claudio
  • Colorado Montaño, Julián
  • Coral Cuellar, William
  • Barrientos Cruz, Antonio
Item Type: Article
Título de Revista/Publicación: Bioinspiration & Biomimetics
Date: December 2011
ISSN: 1748-3190
Volume: 6
Subjects:
Freetext Keywords: Robot Bio-inspired Bio-mimetic Deformation and plasticity Servo and control equipment; robots 45.40.Ln Robotics
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (2MB) | Preview

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.

More information

Item ID: 9789
DC Identifier: http://oa.upm.es/9789/
OAI Identifier: oai:oa.upm.es:9789
DOI: 10.1088/1748-3182/6/4/045005
Official URL: http://stacks.iop.org/1748-3190/6/045005
Deposited by: Antonio Barrientos
Deposited on: 01 Dec 2011 07:23
Last Modified: 10 Mar 2017 10:04
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM