Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 5, Issue 3, Pages 4719-4726Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.3003862
Keywords
Biologically-inspired robots; marine robotics; underactuated robots; motion and path planning; motion control
Categories
Funding
- National Science Foundation [CNS-1936599, IIS-1851817]
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Three-dimensionally (3D) maneuverable robotic fish are highly desirable due to their ability to explore and survey the underwater environment. Existing depth control mechanisms are typically focused on using either compressed air or a piston to generate changes in volume. However, this often makes the system bulky and therefore impractical for use in small size underwater robots. In this letter, a small and compact 3D maneuverable robotic fish is developed. Instead of using a compressed air tank, the robot is equipped with an on-hoard water electrolyzer that generates gases in the required amount, in order to achieve changes in depth. The fabricated robotic fish demonstrates fast diving and rising performance. A servo motor is used to generate asymmetric flapping motion on the caudal fin for two-dimensional (2D) planar motion. A 3D dynamic model is derived for the fabricated robotic fish. This 3D model is then embedded into a relative velocity framework, to develop a guidance and control scheme that enables the robotic fish to maneuver through underwater orifices. These underwater orifices may be either stationary or moving. Simulations are used to demonstrate the efficacy of the developed algorithm.
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