An elastic pulsed-jet thruster for soft unmanned underwater vehicles

Francesco Giorgio-Serchi; Andrea Arienti; Ilaria Baldoli; Cecilia Laschi

doi:10.1109/ICRA.2013.6631306

An elastic pulsed-jet thruster for soft unmanned underwater vehicles

Francesco Giorgio-Serchi, Andrea Arienti, Ilaria Baldoli, Cecilia Laschi

School of Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract / Description of output

This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters.

Original language	English
DOIs	https://doi.org/10.1109/ICRA.2013.6631306
Publication status	Published - 1 May 2013
Event	IEEE International Conference on Robotics and Automation 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013 http://www.icra2013.org/

Conference

Conference	IEEE International Conference on Robotics and Automation 2013
Abbreviated title	ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13
Internet address	http://www.icra2013.org/

Access to Document

10.1109/ICRA.2013.6631306

Cite this

@conference{e4ca1f986b8b4a17a05221e578999123,

title = "An elastic pulsed-jet thruster for soft unmanned underwater vehicles",

abstract = "This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters.",

author = "Francesco Giorgio-Serchi and Andrea Arienti and Ilaria Baldoli and Cecilia Laschi",

year = "2013",

month = may,

day = "1",

doi = "10.1109/ICRA.2013.6631306",

language = "English",

note = "IEEE International Conference on Robotics and Automation 2013, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

url = "http://www.icra2013.org/",

}

TY - CONF

T1 - An elastic pulsed-jet thruster for soft unmanned underwater vehicles

AU - Giorgio-Serchi, Francesco

AU - Arienti, Andrea

AU - Baldoli, Ilaria

AU - Laschi, Cecilia

PY - 2013/5/1

Y1 - 2013/5/1

N2 - This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters.

AB - This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters.

U2 - 10.1109/ICRA.2013.6631306

DO - 10.1109/ICRA.2013.6631306

M3 - Paper

T2 - IEEE International Conference on Robotics and Automation 2013

Y2 - 6 May 2013 through 10 May 2013

ER -

An elastic pulsed-jet thruster for soft unmanned underwater vehicles

Abstract / Description of output

Conference

Access to Document

Fingerprint

Cite this