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Rossi, Claudio ORCID: https://orcid.org/0000-0002-8740-2453, Colorado Montaño, Julián, Coral Cuellar, William and Barrientos Cruz, Antonio
ORCID: https://orcid.org/0000-0003-1691-3907
(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.
Title: | Bending continuous structures with SMAs: a novel robotic fish design |
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Author/s: |
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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 |
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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.
Item ID: | 9789 |
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DC Identifier: | https://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 |