A Bio-inspired Underwater Robot for Station keeping with Omnidirectional Disturbances

Project: Research project

Description

Autonomous underwater vehicles are unable to perform tasks in cluttered
conditions, particularly in current. This is common in riverine and littoral zones, and around
structures near wind-induced water flows. Over the past decade our group has measured and modeled
the capabilities of a fish that we have shown can both move and sense omnidirectionally. This
system is an ideal basis for a bio-inspired approach to building a robot capable of working in these
conditions. We propose (1) building an autonomous undulatory robot using a novel high density
actuator (fishing line actuators) for 102 independent degrees of freedom, enabling unparalleled
agility and (2) applying advanced nonlinear control methods our group has developed to enable
station-keeping in the presence of omnidirectional fluid perturbations.
StatusFinished
Effective start/end date5/1/143/31/18

Funding

  • Office of Naval Research (N00014-16-1-2132-P00002)

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Robots
Autonomous underwater vehicles
Fish
Actuators
Fluids
Water