Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity

Marcello Calisti, Francesco Giorgio-Serchi, Cesare Stefanini, Madiha Farman, Irfan Hussain, Costanza Armanini, Dongming Gan, Lakmal Senviratne, Federico Renda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Flagellated micro-organism are regarded as excellent swimmers within their size scales. This, along with the simplicity of their actuation and the richness of their dynamics makes them a valuable source of inspiration to design continuum, self-propelled underwater robots. Here we introduce a soft, flagellum-inspired system which exploits the compliance of its own body to passively attain a range of geometrical configurations from the interaction with the surrounding fluid. The spontaneous formation of stable helical waves along the length of the flagellum is responsible for the generation of positive net thrust. We investigate the relationship between actuation frequency and material elasticity in determining the steady-state configuration of the system and its thrust output. This is ultimately used to perform a parameter identification procedure of an elastodynamic model aimed at investigating the scaling laws in the propulsion of flagellated robots.
Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3328-3334
Number of pages7
ISBN (Electronic) 978-1-7281-4004-9
ISBN (Print)978-1-7281-4005-6
DOIs
Publication statusE-pub ahead of print - 27 Jan 2020
EventIEEE/RSJ International Conference on
Intelligent Robots and Systems 2019
- Ventian Macau, Macau, China
Duration: 4 Nov 20198 Nov 2019
https://www.iros2019.org/

Conference

ConferenceIEEE/RSJ International Conference on
Intelligent Robots and Systems 2019
Abbreviated titleIROS 2019
CountryChina
CityMacau
Period4/11/198/11/19
Internet address

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