This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot. While existing robotic dolphins typically use revolute joints to articulate rigid bodies, our design – which will be made opensource – incorporates a flexible tail with tunable silicone skin and actuation flexibility via a cable-driven system, which mimics muscle dynamics and design flexibility with a tunable skeleton structure. The design is also tunable since the backbone can be easily printed in various geometries. The paper provides insights into how a few such variations affect robot motion and efficiency, measured by speed and cost of transport (COT). This approach demonstrates the potential of achieving dolphin-like motion through enhanced flexibility in bio-inspired robotics.


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    Titel :

    An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion


    Beteiligte:
    Zhao, Luyang (Autor:in) / Jiang, Yitao (Autor:in) / She, Chun-Yi (Autor:in) / Jeong, Mingi (Autor:in) / Dong, Haibo (Autor:in) / Li, Alberto Quattrini (Autor:in) / Chen, Muhao (Autor:in) / Balkcom, Devin (Autor:in)


    Erscheinungsdatum :

    22.04.2025


    Format / Umfang :

    5290290 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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