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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Giorgio Serchi, F. Arienti, A. Baldoli, I. Laschi, C. |
| Copyright Year | 2013 |
| Description | Author affiliation: Centre on Sea Technol. & Marine Robot., Biorobotics Inst., Pisa, Italy (Giorgio Serchi, F.; Arienti, A.; Baldoli, I.; Laschi, C.) |
| Abstract | This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters. |
| Starting Page | 5103 |
| Ending Page | 5110 |
| File Size | 1501132 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6631306 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Propulsion |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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