Publications / 2000 Proceedings of the 17th ISARC, Taipei, Taiwan

Underwater Deployment Robots - From Amoebot to Roboglider

I-Ming Chen, Hsi-shang Li, F. M. J. Nickols, Xinggang Yan
Pages 1-6 (2000 Proceedings of the 17th ISARC, Taipei, Taiwan, ISBN 9789570266986, ISSN 2413-5844)

Two types of biologically-inspired underwater robotic systems are introduced for underwater deployment and inspection purpose: 1) Amoebot, a shape-changing robot that mimics the swimming action of microorganism; 2) RoboGlider, an under-actuated 1DOF robotic platform whose locomotion is inspired by the phenomenon of falling leaf or paper. The movement of those underwater systems can be explained using the concept of dynamical systems modeled upon the solid-fluid interactions. Computer simulation of the locomotion and construction of experimental prototypes are investigated and discussed.

Keywords: Underwater robot. Underwater deployment. Biomimetic robot. Nonlinear dynamical systems.