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Manoeuvring of an aquatic soft robot using thrust-vectoring

Manoeuvring of an aquatic soft robot using thrust-vectoring
Manoeuvring of an aquatic soft robot using thrust-vectoring

Capability of a pulsed-jetting, aquatic soft robot to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35°.

186-191
IEEE
Wang, Tao
8f9b70c7-bca9-4ee5-93a3-1d587e78e0f1
Lidtke, Artur K.
5570c46b-09b5-4345-9f5c-7a5ed2a29ffc
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Weymouth, Gabriel D.
b0c85fda-dfed-44da-8cc4-9e0cc88e2ca0
Wang, Tao
8f9b70c7-bca9-4ee5-93a3-1d587e78e0f1
Lidtke, Artur K.
5570c46b-09b5-4345-9f5c-7a5ed2a29ffc
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Weymouth, Gabriel D.
b0c85fda-dfed-44da-8cc4-9e0cc88e2ca0

Wang, Tao, Lidtke, Artur K., Giorgio-Serchi, Francesco and Weymouth, Gabriel D. (2019) Manoeuvring of an aquatic soft robot using thrust-vectoring. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). IEEE. pp. 186-191 . (doi:10.1109/ROBOSOFT.2019.8722732).

Record type: Conference or Workshop Item (Paper)

Abstract

Capability of a pulsed-jetting, aquatic soft robot to perform turning manoeuvres by means of a steerable nozzle is investigated experimentally for the first time. Actuation of this robot is based on the periodic conversion of slowly-charged elastic potential energy into fluid kinetic energy, giving rise to a cyclic pulsed-jet resembling the one observed in cephalopods. A steerable nozzle enables the fluid jet to be deflected away from the vehicle axis, thus providing the robot with the unique ability to manoeuvre using thrust-vectoring. This actuation scheme is shown to offer a high degree of control authority when starting from rest, yielding turning radii of the order of half of the body length of the vehicle. The most significant factor affecting efficiency of the turn has been identified to be the fluid momentum losses in the deflected nozzle. This leads, given the current nozzle design, to a distinct optimum nozzle angle of 35°.

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More information

e-pub ahead of print date: April 2019
Published date: 27 May 2019
Venue - Dates: 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019, , Seoul, Korea, Republic of, 2019-04-13 - 2019-04-17

Identifiers

Local EPrints ID: 432034
URI: http://eprints.soton.ac.uk/id/eprint/432034
PURE UUID: 89df5ea3-cfaa-4d6b-84b8-55d6f5c1d2ac
ORCID for Artur K. Lidtke: ORCID iD orcid.org/0000-0002-2687-3083
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007
ORCID for Gabriel D. Weymouth: ORCID iD orcid.org/0000-0001-5080-5016

Catalogue record

Date deposited: 27 Jun 2019 16:30
Last modified: 26 Nov 2021 03:00

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Contributors

Author: Tao Wang
Author: Artur K. Lidtke ORCID iD
Author: Francesco Giorgio-Serchi ORCID iD

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