TY - GEN
T1 - Robojelly bell kinematics and resistance feedback control
AU - Villanueva, A.
AU - Priya, Shashank
AU - Anna, C.
AU - Smith, C.
PY - 2010/12/1
Y1 - 2010/12/1
N2 - A comparative kinematics analysis was conducted between natural Aurelia aurita medusa and biomimetic roboticjellyfish (Robojelly). A resistance feedback controller was implemented to tailor the deformation profile of BISMAC actuators embedded in Robojelly. Robojelly's performance was quantified in terms of thrust production and power consumption during vertical swimming experiments. A maximum average instantaneous thrust production of 0.006 N was achieved at a driving current (Ihi) of 1.5 A with 35% duty cycle. Rapid heating of SMA wires was found to reduce power consumption and increase thrust. The bell kinematic analysis revealed resemblance and differences in bell deformation trajectories of the biomimetic and natural jellyfish. The inflexion point of the A. aurita was found to convert an inner bell trajectory into an outer one during contraction which assists the thrust production.
AB - A comparative kinematics analysis was conducted between natural Aurelia aurita medusa and biomimetic roboticjellyfish (Robojelly). A resistance feedback controller was implemented to tailor the deformation profile of BISMAC actuators embedded in Robojelly. Robojelly's performance was quantified in terms of thrust production and power consumption during vertical swimming experiments. A maximum average instantaneous thrust production of 0.006 N was achieved at a driving current (Ihi) of 1.5 A with 35% duty cycle. Rapid heating of SMA wires was found to reduce power consumption and increase thrust. The bell kinematic analysis revealed resemblance and differences in bell deformation trajectories of the biomimetic and natural jellyfish. The inflexion point of the A. aurita was found to convert an inner bell trajectory into an outer one during contraction which assists the thrust production.
UR - http://www.scopus.com/inward/record.url?scp=79952956242&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2010.5723486
DO - 10.1109/ROBIO.2010.5723486
M3 - Conference contribution
AN - SCOPUS:79952956242
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1124
EP - 1129
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -