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Title: Direct Tail Actuation vs Internal Rotor Propulsion in Aquatic Robots
It is common for scientists to look to nature for inspiration in developing robots. Many times biological creatures outperform even the best man made robots. We will be focusing on aquatic locomotion of robots inspired by the locomotion of fish. There are two different means of propulsion of the robots tested in this paper. One model of the robot is propelled only through the oscillations of an internal momentum wheel, while the other is propelled by the direct actuation of a tail structure. Both of these models achieve net propulsion through vortex shedding past their trailing edge, and two of the robots locomotion is also aided by the change in shape from either a passive or active tail. Tests were conducted to highlight the locomotion performance differences of the two different means of locomotion.  more » « less
Award ID(s):
1563315
PAR ID:
10051488
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
ASME Dynamic Systems and Control Conference
Page Range / eLocation ID:
V001T30A008
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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