2023/03/01 by Sara Oliveira Santos, Nils Tack, Santos, Sara Oliveira +11
Engineering · Physics and Astronomy · #Biological Physics (physics.bio-ph) #Biomimetic flight and propulsion mechanisms #FOS: Physical sciences #Fluid Dynamics (physics.flu-dyn) #Micro and Nano Robotics #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2303.00805
openalex publication_date 2023/03/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Metachronal locomotion is a widespread swimming mode used by aquatic swarming organisms to achieve performance and maneuverability in the intermediate Reynolds number regime. Our understanding of the mechanisms driving these abilities is limited due to the challenges of studying live organisms. Designs inspired by nature present an approach for developing small and maneuverable underwater self-propelled robots. Here, we present the design, manufacture, and validation of the Pleobot --a unique krill-inspired robotic swimming appendage constituting the first platform to study metachronal propulsion comprehensively. Our methods combine a multi-link 3D printed mechanism with active and passive actuation of the joints to generate natural kinematics. Using force and fluid flow measurements in parallel with biological data, we show the link between the flow produced by the appendage and thrust. Further, we provide the first account of a leading-edge suction effect that contributes to lift during the power stroke. The repeatability and modularity of the Pleobot enable the independent manipulation of particular motions and traits to test hypotheses central to understanding the relationship between form and function. Lastly, we outline future directions for the Pleobot, including adapting morphological features. We foresee a broad appeal to a wide array of scientific disciplines, from fundamental studies in ecology, biology, and engineering, to developing new platforms for studying oceans across the solar system.