Publiée le 06/04/11 à 16h04

Licence Creative Commons CC-By-NC

Biomimetism has been widely emerging in the last years in robots modeling and design. Many scientists turned their attention to nature for inspiration. In fact biomimicry and bio-inspiration have taken several applications in robotics. Some scientist used observations to build their robots while others have copied the morphology of biological systems in their designs. There are many successful examples of robots mimicking the mechanical design and motion trajectories of animals. However, those designs are compromised by the limitations of traditional fabrication methods and the use of stiff materials. Nature, on the other hand makes use of compliant materials frequently. Stiff structures such as bones and shells are made with non-uniform stiffness and connected by soft tissue. Recently the use of compliant materials in robotics is emerging; Examples include terrestrial locomotion (Cham, October/November, 2002) and underwater locomotion (Pablo Valdivia y Alvarado, March 2006). The present work is part of FILOSE (Robotic Fish LOcomotion and SEnsing) project. FILOSE aims to investigate how fish sense the flow around them and react to the changes in the flow patter. In this study, the vibration theories of continuous materials are used to perform desired complex body motions. The fish-like robot should imitate the kinematics of a real fish. The robot tail is modeled as a cantilever beam actuated by a time varying moment. The equations of motion relating the lateral deflection to the actuation moment are derived. A physical model for the robot is build and the corresponding design is discussed.