Abstract
In the last two decades, bio-inspired solutions have been thoroughly investigated as a source of efficiency and manoeuvrability improvement for underwater robots. By means of advanced simulation techniques, researchers from all over the world are trying to quantify the propulsive forces generated by biological thrusters. However, in order to compute the resulting motion of the robot, such forces must be integrated in a multi-body model, which accounts for the mass distribution and for the hydrodynamic effects on a rigid body moving in a fluid. In order to address this objective, the authors devised a framework to integrate the long-lasting fluid dynamics simulations with the real-time control techniques required to manage autonomous navigation. The adaptability of the proposed method has been tested by computing the propulsive performance of a bio-inspired underwater vehicle manufactured by the authors.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Scaradozzi, D., Palmieri, G., Costa, D., Pinelli, A.: BCF swimming locomotion for autonomous underwater robots: a review and a novel solution to improve control and efficiency. Ocean Eng. 130, 437–453 (2017)
Anderson, J.M., Chhabra, N.K.: Maneuvering and stability performance of a robotic tuna. Integr. Comp. Biol. 42(1), 118–126 (2002)
Liu, J., Hu, H.: A 3D simulator for autonomous robotic fish. Int. J. Autom. Comput. 1(1), 42–50 (2004)
Morgansen, K.A., Triplett, B.I., Klein, D.J.: Geometric methods for modeling and control of free-swimming fin-actuated underwater vehicles. IEEE Trans. Robot. 23(6), 1184–1199 (2007)
Liu, Y.X., Chen, W.S., Liu, J.K.: Research on the swing of the body of two-joint robot fish. J. Bionic Eng. 5(2), 159–165 (2008)
Liu, Q.: Research on dynamics performance of robotic fish based on ADAMS. In: International Conference on Measuring Technology and Mechatronics Automation (ICMTM), Changsha, vol. 3, pp. 61–65 (2010)
Wen, L., Liang, J., Shen, Q., Bao, L., Zhang, Q.: Hydrodynamic performance of an undulatory robot: functional roles of the body and caudal fin locomotion. Int. J. Adv. Robot. Syst. 10(1), 5–14 (2013)
Sfakiotakis, M., Lane, D.M., Davies, J.C.: Review of fish swimming modes for aquatic locomotion. IEEE J. Ocean. Eng. 24(2), 237–252 (1999)
Costa, D., Palmieri, G., Palpacelli, M.C., Panebianco, L., Scaradozzi, D.: Design of a bio-inspired autonomous underwater robot. J. Intell. Robot. Syst. 91, 1–12 (2017)
Costa, D., Franciolini, M., Palmieri, G., Crivellini, A., Scaradozzi, D.: Computational fluid dynamics analysis and design of an ostraciiform swimming robot. In: IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 135–140 (2017)
Antonelli, G.: Underwater Robots, Motion and Force Control of Vehicle-Manipulator Systems. Springer, Berlin Heidelberg (2008)
Fossen, T.I.: Marine Control System-Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. Marine Cybernetics (2002)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Costa, D., Palmieri, G., Scaradozzi, D., Callegari, M. (2019). Multi-body Analysis of a Bio-Inspired Underwater Robot. In: Carbone, G., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2018. Mechanisms and Machine Science, vol 68. Springer, Cham. https://doi.org/10.1007/978-3-030-03320-0_26
Download citation
DOI: https://doi.org/10.1007/978-3-030-03320-0_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-03319-4
Online ISBN: 978-3-030-03320-0
eBook Packages: EngineeringEngineering (R0)