Comprehensive analysis of efficient swimming using articulated legs fringed with flexible appendages inspired by a water beetle

Bioinspiration & Biomimetics
Bokeon KwakJoonbum Bae

Abstract

Drag-based swimming is usually accompanied with the shape change of rowing appendages to generate asymmetric force during the power stroke and recovery stroke. To implement this in an aquatic robot, one may actively control the surface area of its legs during the swimming. However, a small sized robot with a limited number of actuators should adjust the surface area of legs in passive manner. For this reason, we proposed a novel articulated leg with flexible appendages inspired by a water beetle. These leg structures were designed to implement an efficient recovery stroke with less resistive force during the recovery stroke, while its surface area was increased again if suitable relaxation time was applied to perform improved power stroke. To identify an optimal leg design, 36 different types were fabricated by changing the passive joint thickness, appendage materials, length, and morphology. Several correlations and dominant parameters were identified, and it was shown that the swimming leg with fixed joint and appendage stiffness cannot always generate the largest torque in all the swimming frequency. Also, a two-dimensional dynamic model was proposed based on an underactuated manipulator, and the model validation was proceed...Continue Reading

References

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May 6, 2016·Bioinspiration & Biomimetics·Sanaz Bazaz Behbahani, Xiaobo Tan
Mar 7, 2018·Bioinspiration & Biomimetics·Bokeon Kwak, Joonbum Bae
Jun 20, 2018·Proceedings of the National Academy of Sciences of the United States of America·Daniel FloryanAlexander J Smits

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