DocumentCode :
2951547
Title :
A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example
Author :
Alvarado, Pablo Valdivia y ; Chin, Stephanie ; Larson, Winston ; Mazumdar, Anirban ; Youcef-Toumi, Kamal
Author_Institution :
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA
fYear :
2010
fDate :
26-29 Sept. 2010
Firstpage :
473
Lastpage :
478
Abstract :
In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.
Keywords :
biomechanics; biomimetics; robot kinematics; vibrations; anisotropic material distributions; fish-like swimming; locomotion kinematics; multi degree of freedom biomimetic robots; stingray; three dimensional vibrational kinematics; under-actuated biomimetic robots; Kinematics; Material properties; Plastics; Prototypes; Robots; Servomotors; Viscosity;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
Conference_Location :
Tokyo
ISSN :
2155-1774
Print_ISBN :
978-1-4244-7708-1
Type :
conf
DOI :
10.1109/BIOROB.2010.5627803
Filename :
5627803
Link To Document :
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