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

Project: Research project

Project Details

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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