An electric ray inspired Biomimetic Autonomous Underwater Vehicle

Author

Krishnamurthy, P. ; Khorrami, F. ; de Leeuw, J. ; Porter, M.E. ; Livingston, K. ; Long, J.H.

Author_Institution

Dept. of Electr. & Comput. Eng., NYU, Brooklyn, NY, USA

fYear

2010

fDate

June 30 2010-July 2 2010

Firstpage

5224

Lastpage

5229

Abstract

The development of a novel Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicle (BAUV) inspired by the Pacific electric ray is addressed. The design and hardware implementation of experimental prototypes of the “RayBot” BAUV are described. Extensive observations of live electric rays provided key biological inspirations in the development of the BAUV. As part of the effort, a six degree-of-freedom impulse-based multi-body approach for modeling and simulation of BAUVs was also developed and validated through comparison with experimental data.

Keywords

biomimetics; mobile robots; remotely operated vehicles; telerobotics; underwater vehicles; 6DOF impulse based multibody approach; Pacific electric ray; RayBot BAUV; biologically inspired autonomous underwater vehicle; electric ray inspired biomimetic autonomous underwater vehicle; hardware implementation; Biological control systems; Biological system modeling; Biomimetics; Design engineering; Evolution (biology); Hardware; Marine animals; Payloads; Prototypes; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2010

Conference_Location

Baltimore, MD

ISSN

0743-1619

Print_ISBN

978-1-4244-7426-4

Type

conf

DOI

10.1109/ACC.2010.5530456

Filename

5530456