A BIOMIMETIC UNDERWATER ROBOT DIRECTION CHANGING ALGORITHMS
Abstract
The performance of the steady-turning while swimming, and sharp-turning motion algorithms of a biomimetic underwater robot in the form of a fish is presented in this work. The biological fish modelled is a Mackerel - Scomber scombrus. It’s motion patterns are precalculated and programmed into its firmware as an inflexible algorithm to save power consumption due to continuous motor position recalculations. The robot tail is a six segments plywood panels with vulcanized rubber acting as joints. This tail structure is driven by three remote-control servomotors (Futaba 3003) under the control of microcontroller (PIC18F4520). The algorithm for steady turning is derived steady swimming by introducing offset in the servomotor displacements about the midline of the robot. The algorithm for sharp turning treats the three servomotors as one and turn them simultaneously to left or right and restore them quickly into straight form, which allows the robot to turn at a tight corner. A 54cm turning radius was achieved with the steady turn while swimming. The sharp turn however works but requires several attempts before a proper reorientation was achieved in the desired direction.
References
Afolayan, M. O., Yawas, D. S., Folayan, C. O., & Aku, S. Y. (2012). Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish. Journal of Robotics, 2012, 1-16.
Afolayan, M. O., & Iorpenda, M. J. (2021). Plain Swimming Algorithm for a Mackerel (Scomber scombrus) Robotic Fish. Nigerian Research Journal of Engineering and Environmental Sciences, 6(2) 2021 pp. 783-793.
Afolayan, M.O., Yawas, D. S., Folayan, C. O., & Aku, S.Y. (2014) A Design of Bump Sensor Mechanism for Robotic Fish. British Journal of Applied Science and Technology 5(6): 568-579. 2015
Andrés, M., Juan, J. R., Iván R., Jaime del C., & Antonio, B. (2020). Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks. Sensors. 20(8), 2181, DOI:10.3390/s20082181
Anderson, J. M. (1996). Vorticity control for efficient propulsion. Ph.D. dissertation, Massachusetts Institute of Technology/Woods Hole Oceanographic Institute Joint Program, Woods Hole, MA.
Breder, C. M. (1926). The locomotion of fishes. Zoological, 4, 159–297.
Daou, H. E., Salumae, T., Toming, G., & Kruusmaa, M., (2012). A bio-inspired compliant robotic fish: Design and experiments. In IEEE International Conference on Robotics and Automation (pp. 5340-5345). Saint Paul, MN, USA., doi: 10.1109/ICRA.2012.6225321.
Jindong, L., & Huosheng, H., (2007). A methodology of modelling fish-like swim patterns for robotic fish. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (pp. 1316–1321). Harbin, China.
Kevin, J. D. (1997). Limbless locomotion: learning to crawl with a snake robot. A Ph.D. thesis at the Robotics Institute Carnegie Mellon University, 5000 Forbes Avenue, Pittsburg, PA 15213.
Li, Z., Ge, L., & Xu, W. (2018). Turning Characteristics of Biomimetic robotic fish driven by two degree of freedom of pectoral fins and flexible body/caudal fin. International Journal of Advanced Robotic Systems. 2018: 1-12
Logico, M. G. (2006). “Navy Diver Sets Record with 2,000 foot Dive”, http://www.military.com/features/0,15240,108883,00.html. Accessed: 18-May-2022.
Marchese, A. D., Onal C. D., & Rus, D. (2014). Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators. Soft Robotics, 1(1), 75-87.
Mark, C. (2021). Advances in underwater robots. http://www.asme.org/topics-resources/content/advances-in-underwater-robots. Accessed: 04-June-2022
Martins, O. O., Aribisala, A. A., Adeyemi, H. O., Adekunle, A. A., Oyelaran, O. A. (2019). Dual Mode Mobile Surveillance Robot. FUDMA Journal of Sciences (FJS), Vol. 3 No. 4, December, 2019, 153-162.
Müller, U., Heuvel, B., Stamhuis, E., & Videler, J. (1997). Fish foot prints: morphology and energetics of the wake behind a continuously swimming mullet (Chelon Labrosus Risso), Journal of Experimental Biology., vol. 2906, pp. 2893–2906.
NMRI (2020). National Maritime Research Institute. http://www.nmri.go.jp/oldpages /eng/khirata/ fish/. Accessed 04 July, 2020.
Salisu, A., Bugaje, A. and Shallah, A.B. (2020). Line following Robot with Hugh Radiation Material Detection Capability. FUDMA Journal of Sciences (FJS), Vol. 4 No. 4, December, 2020, 274-280. DOI: https://doi.org/10.33003/fjs-2020-0404-482.
Salumäe, T. (2014). Flow-Sensitive Robotic Fish: From Concept to Experiments. PhD Dissertation Submitted to Faculty of Information Technology, Centre for Biorobotics, Tallinn University of Technology,Tallinn, Estonia
Salumäe, T., & Kruusmaa, M. (2011). A Flexible Fin with Bio-Inspired Stiffness Profile and Geometry. Journal of Bionic Engineering, vol. 8, no. 4, pp. 418–428.
Sfakiotakis, M., Lane, D. M., & Davies, J. B. C. (1999). Review of fish swimming modes for aquatic locomotion. IEEE Journal of Oceanic Engineering, 24, 237–252.
Shugen, M.A., & Mitsuru, W. (2002). Time-optimal control of kinematically redundant manipulators with limit heat characteristics of actuators. Advanced Robotics, Vol. 16. No. 8. pp. 735-749 (2002).
Srinivasan, M. V. (1992). Distance Perception in Insects. Centre for Visual Sciences, Research School of Biological Sciences, Australian National University, Australia. pp 1-10. Cambridge University Press.
Streitlien, K., Triantafyllou, G. S., & Triantafyllou, M. S. (1996) Efficient foil propulsion through vortex control. American Institute of Aeronautics and Astronautics Journal, 34, 2315–2319.
Than, K. (2012). James Cameron Completes Record-Breaking Mariana Trench Dive. http://www nationalgeograpghic.com. Accessed:18-May-2022
Wang, T., Wen L., Liang J., & Wu, G. (2010). Fuzzy vorticity control of a biomimetic robotic fish using a flapping lunate tail. Journal of Bionic Engineering, 7, 56–65.
Watson, D. G. M. (2002). Practical ship design, vol. 1. Gulf Professional Publishing.
Yangwei, W., Jinbo, T., & Dongbiao, Z. (2015). Design and Experiment on a Biomimetic Robotic Fish Inspired by Freshwater Stingray. Journal of Bionic Engineering, 12, 204–216.
Copyright (c) 2023 FUDMA JOURNAL OF SCIENCES
This work is licensed under a Creative Commons Attribution 4.0 International License.
FUDMA Journal of Sciences
