Design and Development of Remote Operated and Soft Biomimetic Amphibious Mud Skipper
Disciplines
Acoustics, Dynamics, and Controls | Applied Mechanics
Abstract (300 words maximum)
In this study, an amphibious, remotely operated, soft biomimetic locomotive mechanism that can reliably travel over rough terrain and swim in water is presented. The design of this mechanism is inspired by the mudskipper and consists of two soft fins, two compliant arms, a central body, and a compliant tail, utilized to travel on both land and water surfaces. The parts of the biomimetic robot are 3D printed using thermoplastic polyurethane and polylactic acid to sustain its contact with the ground in a unique way. The robot utilizes four servo motors to consistently move two compliant arms and soft fins to overcome obstacles. While the fins swipe back and forth across the fluid surface to generate movement, the tail is utilized in a vertical swiping motion to propel the robot through the water and assist in turning. The mechanism is remotely operated by a Bluetooth controller and powered by onboard batteries. All the electronics are encased in a waterproof housing so that the robot can swim in water without the hazard of shorting. Additionally, the MATLAB Simscape model of the robot is created to optimize the link lengths and analyze the locomotion behavior.
Academic department under which the project should be listed
SPCEET - Mechanical Engineering
Primary Investigator (PI) Name
Ayse Tekes
Design and Development of Remote Operated and Soft Biomimetic Amphibious Mud Skipper
In this study, an amphibious, remotely operated, soft biomimetic locomotive mechanism that can reliably travel over rough terrain and swim in water is presented. The design of this mechanism is inspired by the mudskipper and consists of two soft fins, two compliant arms, a central body, and a compliant tail, utilized to travel on both land and water surfaces. The parts of the biomimetic robot are 3D printed using thermoplastic polyurethane and polylactic acid to sustain its contact with the ground in a unique way. The robot utilizes four servo motors to consistently move two compliant arms and soft fins to overcome obstacles. While the fins swipe back and forth across the fluid surface to generate movement, the tail is utilized in a vertical swiping motion to propel the robot through the water and assist in turning. The mechanism is remotely operated by a Bluetooth controller and powered by onboard batteries. All the electronics are encased in a waterproof housing so that the robot can swim in water without the hazard of shorting. Additionally, the MATLAB Simscape model of the robot is created to optimize the link lengths and analyze the locomotion behavior.