NDLI: An alligator inspired modular robot

Content Provider	IEEE Xplore Digital Library
Author	Jia, X. Frenger, M. Chen, Z. Hamel, W.R. Zhang, M.
Copyright Year	2015
Description	Author affiliation: Depts. of Biomed. Eng. & Internal Med., Ohio State Univ., Columbus, OH, USA (Jia, X.; Zhang, M.) \|\| Dept. of Comput. Sci. & Eng., Ohio State Univ., Columbus, OH, USA (Frenger, M.) \|\| Dept. of Mech., Aerosp. & Biomed. Eng., Univ. of Tennessee, Knoxville, TN, USA (Chen, Z.; Hamel, W.R.)
Abstract	Due to challenges, such as information collection in huge water, propulsion at different scales and manipulation in extreme fluid environments, wide application of unmanned underwater vehicles (UUVs) is limited. In this paper, an alligator modular robot, composed by 14 small robots, was inspired from the locomotion and morphologies of alligators and microorganisms. With the undulatory body and beating legs, the assembled large robot was able to maintain fast and maneuverable swimming for tasks executions at large Reynolds number. With a biologically optimized body aspect ratio (3.47), small modular robots achieved effective propulsion in viscous fluid. Facilitated by a dissembling system, small robots were automatically released from the large robot frame and swam around with independent actuation systems. Hydrodynamic model for the large and small robot were formulated, based on which the propulsion for the modular robot in large and low Reynolds numbers (Res) were simulated. Experiments were conducted to compare with the simulation results to further validate the proposed modular robot design.
Starting Page	1949
Ending Page	1954
File Size	804062
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139453
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fluids Propellers Legged locomotion Robot kinematics Force
Content Type	Text
Resource Type	Article

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