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A resonant squid-inspired robot unlocks biological propulsive efficiency.

Thierry Bujard¹, Francesco Giorgio-Serchi^1,2, Gabriel D Weymouth^3,4

¹Engineering and Physical Sciences, University of Southampton, Southampton, UK.

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|May 27, 2021

Summary

This study models pulse-jet propulsion in animals like jellyfish using a coupled mass-spring-mass system. The research demonstrates resonance significantly enhances swimming speed and efficiency in a flexible robot, matching biological performance.

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Area of Science:

Biomimetics and Robotics
Fluid Dynamics
Animal Locomotion

Background:

Elasticity plays a key role in the efficient pulse-jet propulsion of marine animals like squid and jellyfish.
Quantifying the dynamics of this propulsion and applying it to robotic systems remains an underexplored area.

Purpose of the Study:

To model pulse-jet propulsion as a coupled mass-spring-mass oscillator.
To design and test a flexible, self-propelled robot based on this model.
To investigate the effects of resonance on swimming speed and efficiency.

Main Methods:

Developed a theoretical model of pulse-jet propulsion as a coupled mass-spring-mass oscillator.
Engineered a flexible, self-propelled robotic system based on the oscillator model.
Conducted experiments to measure swimming speed, efficiency, and optimal Strouhal number.

Main Results:

Demonstrated that resonance significantly enhances pulse-jet swimming speed and efficiency.
The robot achieved an optimal cost of transport comparable to efficient biological swimmers like Aurelia aurita.
The robot exhibited a preferred Strouhal number for efficient locomotion, aligning with fish swimming principles.

Conclusions:

The coupled mass-spring-mass oscillator model effectively captures pulse-jet propulsion dynamics.
Resonance is a critical factor for optimizing speed and efficiency in pulse-jet swimming robots.
Future work could enhance performance beyond biological limits by combining resonance with vortex formation strategies.