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Anguilliform Swimming Performance of an Eel-Inspired Soft Robot
Dinh Quang Nguyen1, Van Anh Ho1
1School of Materials Science, Japan Advanced Institute of Science and Technology (JAIST), Nomi, Japan.
Soft Robotics
|June 17, 2021
Summary
This study introduces a soft eel robot using pneumatic actuators that mimic eel muscles. Optimized control parameters achieved high swimming speeds and efficiency, advancing soft robotic swimmer technology.
Area of Science:
- Robotics
- Biomimetics
- Fluid Dynamics
Background:
- Soft robotic swimmers offer advantages in complex environments.
- Mimicking natural swimmers like eels is a key challenge in robotics.
- Pneumatic actuators provide a promising method for soft robot locomotion.
Purpose of the Study:
- To design and control a soft eel robot using soft pneumatic actuators.
- To investigate the relationship between actuation parameters and swimming performance.
- To optimize the robot's design and control for efficient locomotion.
Main Methods:
- Constructed an eel robot body with four pairs of soft pneumatic actuators.
- Developed a control system using phased pulse signals for sequential air delivery.
- Modeled hydrodynamic forces and estimated thrust based on tail beat frequency.
- Experimentally determined optimal air pressure and beat frequency for swimming efficiency.
Main Results:
- Generated thrust force increased with tail beat frequency.
- Swimming efficiency (Cost of Transport) was dependent on thrust and body posture.
- Optimal parameters (1.25 Hz, 65/50/30 kPa) yielded a COT of 19.21 at 10.5 cm/s.
- Phase shifting control significantly impacted swimming speed and COT, reaching 19 cm/s (COT 10.72).
Conclusions:
- The soft eel robot design effectively mimics eel locomotion.
- Optimized control strategies enhance swimming speed and energy efficiency.
- Findings contribute to the development of soft swimming robots and understanding eel swimming mechanics.
