相关论文: Underactuated Biomimetic Autonomous Underwater Veh…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
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…
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…
Many different robots have been designed and built to work under water. In many cases, researchers have chosen to use bio-inspired platforms. In most cases, the main goal of the fish inspired robots has been set to autonomously swim and…
Miniature underwater robots play a crucial role in the exploration and development of marine resources, particularly in confined spaces and high-pressure deep-sea environments. This study presents the design, optimization, and performance…
A biomorphic propulsion systemfor underwater robotic fish is presented. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to servomotor by two symmetric movable thrusts…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Understanding and modeling animal behavior is essential for studying collective motion, decision-making, and bio-inspired robotics. Yet, evaluating the accuracy of behavioral models still often relies on offline comparisons to static…
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability.…
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Inspired by the navigational behavior observed in the animal kingdom and especially the navigational behavior of the ants, we attempt to simulate it in an artificial environment by implementing different kinds of biomimetic algorithms.
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…
With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators,…