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Global Vision-Based Formation Control of Soft Robotic Fish Swarm
Zhen Zhang1,2, Tao Yang1,2, Tianhao Zhang3
1Center for X-Mechanics, School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China.
Soft Robotics
|July 14, 2020
Summary
This study presents a soft robotic fish swarm capable of coordinated formation control using a hybrid propulsion and steering system. The swarm successfully mimics natural behaviors, offering potential for advanced underwater robotics.
Area of Science:
- Robotics
- Control Systems
- Biomimetics
Background:
- Soft robots offer high adaptability and low cost for swarm applications.
- Formation control in soft robotic swarms is challenging due to actuator limitations.
Purpose of the Study:
- To develop and study a soft robotic fish swarm system with global vision positioning.
- To investigate the formation control capabilities of the soft robotic fish swarm.
Main Methods:
- A hybrid power-control system combining soft dielectric elastomers for propulsion and rigid servos for steering was employed.
- Global vision positioning was used for tracking and controlling the swarm.
- The swarm was tested on its ability to mimic natural swarming behaviors.
Main Results:
- The soft robotic fish swarm demonstrated rapid formation shifting capabilities.
- The swarm successfully mimicked three distinct natural swarming behaviors: highly parallel group, encircling, and torus formations.
- The system achieved precise control over individual fish movements and overall swarm configuration.
Conclusions:
- The developed soft robotic fish swarm system overcomes previous limitations in precision and response time.
- The hybrid actuation approach enables effective formation control for soft robotic swarms.
- This research provides a foundation for future advancements in underwater soft robotics and swarm intelligence.
