2024/11/01 by Luyang Zhao, Yitao Jiang, Zhao, Luyang +12
Engineering · #Artificial Intelligence (cs.AI) #Biomimetic flight and propulsion mechanisms #FOS: Computer and information sciences #Robotics (cs.RO) #Structural Analysis and Optimization #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2411.00347
openalex publication_date 2024/11/01 · openalex created_date 2024/11/14 · openalex updated_date 2026/07/28
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.