2022/01/11 by Yu Zhang, Robert K. Katzschmann, Zhang, Yu +1
Computer Science · Engineering · Physics and Astronomy · #FOS: Computer and information sciences #FOS: Electrical engineering #Micro and Nano Robotics #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Systems and Control (eess.SY) #Underwater Vehicles and Communication Systems #cs.RO #cs.SY #eess.SY #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2201.04098
Video supplement at https://www.youtube.com/watch?v=uQgH_580OIM
openalex publication_date 2022/01/11 · arxiv created 2022/02/01 · arxiv updated 2022/02/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design configurations and control policies. This work proposes a pipeline for rapid iterative design and fabrication of a miniaturized modular silicone-elastomer-based robotic fish. The modular design allows simple and rapid iterations of robotic fishes with varying configurations to assist current research efforts on the development of design optimization methods. The proposed robotic fish can serve as a standardized test platform on which performance metrics such as thrust and range of motion can be evaluated. We further show the design of an underwater evaluation setup capable of measuring input pressure, tail deformation, and thrust. Multiple robotic fish prototypes with varying stiffness and internal pneumatic chamber configurations are fabricated and experimentally evaluated. The presented flexible modular design principle for the robot and its evaluation platform unlocks the possibilities of more efficient soft robotic fish and will benefit research on design optimization and underwater exploration in the future.