Multi-body Analysis of a Bio-Inspired Underwater Robot

  • Daniele CostaEmail author
  • Giacomo Palmieri
  • David Scaradozzi
  • Massimo Callegari
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)


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.


Biomimetics Computational fluid dynamics Multi-body analysis Underwater robots 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Daniele Costa
    • 1
    Email author
  • Giacomo Palmieri
    • 1
  • David Scaradozzi
    • 1
  • Massimo Callegari
    • 1
  1. 1.Polytechnic University of MarcheAnconaItaly

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