An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down i...
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Zusammenfassung: | This paper presents the first steps toward a soft dolphin robot using a
bio-inspired approach to mimic dolphin flexibility. The current dolphin robot
uses a minimalist approach, with only two actuated cable-driven degrees of
freedom actuated by a pair of motors. The actuated tail moves up and down in a
swimming motion, but this first proof of concept does not permit controlled
turns of the robot. While existing robotic dolphins typically use revolute
joints to articulate rigid bodies, our design -- which will be made opensource
-- incorporates a flexible tail with tunable silicone skin and actuation
flexibility via a cable-driven system, which mimics muscle dynamics and design
flexibility with a tunable skeleton structure. The design is also tunable since
the backbone can be easily printed in various geometries. The paper provides
insights into how a few such variations affect robot motion and efficiency,
measured by speed and cost of transport (COT). This approach demonstrates the
potential of achieving dolphin-like motion through enhanced flexibility in
bio-inspired robotics. |
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DOI: | 10.48550/arxiv.2411.00347 |