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Flapping-fin underwater vehicle propulsion systems provide an alternative to propeller-driven systems in situations that require involve a constrained environment or require high maneuverability. Testing new configurations through…
Dynamic modeling has been capturing attention for its fundamentality in precise locomotion analyses and control of underwater robots. However, the existing researches have mainly focused on investigating two-dimensional motion of underwater…
It is well known that tuna fish in the ocean can dynamically morph their median fins to achieve optimal hydrodynamic performance, e.g. linear acceleration and maneuverability. In this study, based on the previous studies about the median…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
Research on untethered micro-swimming robots is growing fast owing to their potential impact on minimally invasive medical procedures. Candidate propulsion mechanisms of robots are based on flagellar mechanisms of microorganisms such as…
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely near animals and fragile structures while coping with…
A Cyber-physical underwater vehicle is equipped with bio-inspired flapping fins positioned on the sides of the vehicle's main body. The proposed control surfaces are inspired by fish pectoral fins, generating forces and moments that can…
Median fins of fish-like swimmers play a crucial role in linear acceleration and maneuvering processes. However, few research focused on untethered robotic fish experiments. Imitating the behaviour of real tuna, we developed a free-swimming…
A theory is presented for wave-driven propulsion of floating bodies driven into oscillation at the fluid interface. By coupling the equations of motion of the body to a quasi-potential flow model of the fluid, we derive expressions for the…
Fish swim with flexible fins that stand in stark contrast to the rigid propulsors of engineered vehicles. Using numerical simulations of the dynamics of flow-structure interaction, we have found that dorso-ventral deformation in flexible…
The Hair clip mechanism (HCM) is an in-plane prestressed bistable mechanism proposed in our previous research [1]~[5] to enhance the functionality of soft robotics. HCMs have several advantages, such as high rigidity, high mobility, good…
Autonomous robotic boats are expected to perform several tasks: 1) navigate autonomously in water environments, such as the canals of Amsterdam; 2) perform individual task, such as water monitoring, transporting goods and people; 3) latch…
Ocean dynamics play a crucial role in global climate, ecosystems, and human activities, necessitating accurate and efficient methods to characterize ocean currents and waves. This paper presents the development of a novel bio-inspired…
This paper presents a couple of interesting ideas: a telescopic actuator design and a bio-inspired sea urchin robot. The "spines" of the sea urchin robot consist of fourteen telescopic actuators equally distributed over it's spherical body.…
Any phenomenon in nature is potential to be an inspiration for us to propose new ideas. Lateral line is a typical example which has attracted more interest in recent years. With the aid of lateral line, fish is capable of acquiring fluid…
Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due…
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…