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Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1
Published on: July 11, 2017
Biorobotic insights into how animals swim
Promode R Bandyopadhyay1, David N Beal, Alberico Menozzi
1Naval Undersea Warfare Center, Newport, RI 02841, USA. bandyopadhyaypr@npt.nuwc.navy.mil
The Journal of Experimental Biology
|January 1, 2008
Summary
Biorobotics research on abstracted penguin wings reveals that hydrodynamic efficiency is consistent across species like sunfish and penguins. Stiff fins are better for scaling up robotic vehicles, despite some station-keeping limitations.
Area of Science:
- Biorobotics
- Hydrodynamics
- Robotics
Background:
- Animals use pectoral appendages for underwater maneuvering.
- Diverse fin morphologies exist, from flexible sunfish fins to stiff penguin wings.
- Biorobotics offers insights into biological maneuvering mechanisms.
Purpose of the Study:
- To measure hydrodynamic characteristics and efficiency of abstracted penguin wings.
- To develop a model for computing unsteady forces on fins.
- To compare fin efficiencies across different animal models and scales.
Main Methods:
- Experiments with abstracted penguin wing models.
- Direct measurement of hydrodynamic characteristics, focusing on efficiency.
- Development of a cross-flow vortex model for unsteady force calculation.
- Application of a selection algorithm to optimize fin oscillation parameters.
Main Results:
- A cross-flow vortex model accurately computes instantaneous lift and drag forces.
- Maximum hydrodynamic efficiency appears consistent between sunfish and penguin wings.
- Stiff, penguin-like fins are more suitable for scaling to larger biorobotic vehicles.
Conclusions:
- Hydrodynamic efficiency is a conserved trait across different pectoral appendage designs.
- Flexible fins offer complex maneuvering but may not scale well.
- Stiff fins offer better scalability for biorobotic applications, with potential trade-offs in station-keeping.
