Global Vision-Based Formation Control of Soft Robotic Fish Swarm

Possessing the attributes of high adaptability and low cost, soft robotic individuals can further coordinate and form into a swarming system, enhancing the performances as well as functions in practical applications. However, the formation control of soft robotic swarm remains challenging mainly due to the limitation in relatively low precision and slow response of the soft actuators. In this work, a soft robotic fish swarm system with global vision positioning was studied. The soft robotic fish used in the project is driven by a hybrid power-control system, in which the soft dielectric elastomers and the rigid electrical servo provide forward propulsion and controllable steering function, respectively. Results show that soft robotic fish swarm can quickly shift their formations, mimicking three typical swarming behaviors of natural creatures: highly parallel group, encircling, and torus. The system design and controlling principles of the soft robotic fish swarm may guide the future research of soft robots and robotic swarms, specifically for underwater applications.

Automated summary

Soft robotic individuals possess high adaptability and low cost, and can form into a swarming system to enhance performances in practical applications. The study of a soft robotic fish swarm with global vision positioning showed the ability to quickly shift formations, mimicking natural creatures' swarming behaviors. The design principles of the soft robotic fish swarm system could guide future research on soft robots and robotic swarms for underwater applications.