This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic ...

SoFi是麻省理工学院的软机器鱼，旨在提供近距离，最低限度破坏性的观察所有生活在水下的迷人和可爱的动物。 麻省理工学院 的机器人专家（Robert K. Katzschmann，Joseph DelPreto，Robert MacCurdy和Daniela Rus教授）小心翼翼地使SoFi在尺寸和行为上与真实鱼类相似，同时考虑到可用性。 SoFi不仅仅是设计 仿生机器人 鱼的概念验证，它是一个真正实用的研究工具，具有良好的控制系统和实用的电池寿命。 潜水员使用防水控制器与超声波对机器人进 …

2024年10月15日 · This paper proposes a planar dynamic model for the tensegrity robotic fish, which can be used to simulate and investigate the influence of body stiffness on swimming performance. An equivalent modeling approach is introduced for the soft fish skin and tail fin to consider their effects of flexibility on the robotic fish’s swimming motion.

2022年10月1日 · We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode.

We are able to advance a soft electronic fish with a fully integrated onboard system for power and remote control. Without any motor, the fish is driven solely by a soft electroactive structure made of dielectric elastomer and ionically conductive hydrogel.

2018年12月7日 · This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic ...

Here, inspired by the multiple muscle synergy and lateral line sensing function of fish, we developed a soft robotic fish with multiple actuating units and embedded sensing elements. By collaboratively controlling the amplitude and phase of excitation from the multiple flexible actuating units, the soft robotic fish can successfully realize ...

2022年12月18日 · To address the modeling and control challenges, reinforcement learning (RL) is proposed as a model-free control strategy for the robot fish to swim and reach a specified target goal. By training...

2023年7月24日 · In this paper, we present the design, fabrication, locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle (SoRoFAAM). As a carangiform swimmer, the most important part of SoRoFAAM-1, on the motion point of view, is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.

2024年10月14日 · The actuation method and structural design of soft robots are key elements to improve their motion performance. Inspired by the muscle actuation and swimming mechanism of natural fish, a fast-swimming soft robotic fish actuated by a bionic muscle actuator made of dielectric elastomer is presented.