DocumentCode
663649
Title
Locomotion diversity in an underwater soft-robot inspired by the polyclad flatworm
Author
Kazama, Takushi ; Kuroiwa, Koki ; Umedachi, Takuya ; Komatsu, Yosuke ; Kobayashi, Ryota
Author_Institution
Dept. of Math. & Life Sci., Hiroshima Univ., Higashi-Hiroshima, Japan
fYear
2013
fDate
3-7 Nov. 2013
Firstpage
2083
Lastpage
2083
Abstract
The underwater soft-robot inspired by polyclad flatworms has been developed. The oval, flat, soft body of the flatworm was represented by a rubber sheet. The sheet was controlled by controls with three degrees of freedom to allow flapping of both the lateral sides and the body axis. Swimming patterns, such as swimming forward, hovering, and swimming backwards, were achieved by coordinated movement of the lateral side flaps and the body axis of the soft robot.
Keywords
marine control; mobile robots; bio-inspired swimming robots; body axis; degrees of freedom; lateral side flaps; locomotion diversity; polyclad flatworm; rubber sheet; swimming backwards; swimming hovering; swimming patterns; underwater soft-robot; Animals; Conferences; Educational institutions; Robot kinematics; Robot sensing systems; Rubber;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location
Tokyo
ISSN
2153-0858
Type
conf
DOI
10.1109/IROS.2013.6696646
Filename
6696646
Link To Document