Robojelly bell kinematics and resistance feedback control

A. Villanueva, Shashank Priya, C. Anna, C. Smith

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages1124-1129
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: Dec 14 2010Dec 18 2010

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Other

Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
CountryChina
CityTianjin
Period12/14/1012/18/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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