Sponsor: Office of Naval Research
This project aims to develop highly maneuverable and efficient robotic fish by advancing biomimetic actuation and sensing materials, and by designing and controlling the robotic fish based on biological principles. The research is concentrated on
- Biomimetic actuation. Inspired by fins of living fish, we are developing flexible artificial fins capable of complex 3D deformations based on electroactive polymers, seeking fundamental understanding of electro-mechano-hydrodynamics in fin-fluid interactions, and investigating biologically inspired maneuvering and propulsion strategies for biomimetic pectoral and caudal fins.
- Bioinspired flow sensing. We are interested in developing micro flow sensors through novel microfabrication processes, characterizing and modeling the sensory response in a variety of flow conditions that are of biological and engineering interest, and exploring the use of arrays of such sensors as an artificial lateral line system for robotic fish.
- Feedback flow control. We will investigate artificial lateral line-based feedback control of biomimetic fins to achieve maneuvers and schooling behaviors of robotic fish.
The following videos show two of our free-swimming robotic fish prototypes, whicare propelled and maneuvered by an IPMC caudal fin, and equipped onboard with control, communication, and localization modules for potentially autonomous operation.are propelled and maneuvered by an IPMC caudal fin, and equipped onboard with control, communication, and localization modules for potentially autonomous operation.
The following video shows our monolithically fabricated artificial fin capable of generating complex shape changes.
