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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696646
