Study of Bioinspired Robots in Fluid Using Smart Elastic Structure

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Since most organisms are fairly autonomic, functional and efficient, we aimed to develop the following bioinspired robots in fluid using smart elastic structure.Paramecium like robot :Ciliary movement has an advantage for propulsion if the body is covered by many cilia such as in the case of a paramecium; the body is able to rotate in situ and change its direction to propel itself in small spaces. Thus, we have developed paramecium like robot in fluid with fins modeled on ciliary movement equipped with a motor on its base. We used the fin with ICPF (Ionic Conducting Polymer gel Film) actuator to change its apparent stiffness in a real-time for the representation of the effective stroke and recovery stroke of ciliary movement. We investigated the control of the fin which modeled on the metachronism of cillia, and maneuverability of the robot.Fish like robot :As an alternative propulsion mechanism with higher propulsion efficiency and better safety than the screw propeller, propulsion by oscillating an elastic fin resembling a caudal fin or pectoral fin of fish has been proposed. But the optimum elasticity of fin is not constant and changes according to the movement task and environment. However, it is very difficult to exchange fins of different bending stiffnesses while moving. Thus, we have made a variable bending stiffness fin with a variable effective length spring for the fish like robot. This fin can be changed its apparent bending stiffness in a real-time. We found the optimum effective length of the spring for obtaining greater thrust force and thrust efficiency, and confirmed that the dynamic change of effective length of the spring is effective to for obtaining greater thrust force. We have also made the flow visualization system using PIV, and discussed the flow around the mechanism