Labriform Swimming Robot with Steering and Diving Capabilities | Journal of Intelligent & Robotic Systems Skip to main content
Springer Nature Link
Log in

Labriform Swimming Robot with Steering and Diving Capabilities

  • Short paper
  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

The ability of fish to change the swimming direction is directly related with maneuvering performance. One of the maneuvering aspects is the steering process. Maneuverability can be defined as the ability to turn in a confined area and it is measured as the turning radius trajectory in terms of the body length (R/BL, where R is defined as the turning radius and BL defined as the total body length). This paper aims to develop a swimming robot of labriform swimming mode with good steering performance. The steering process is achieved by one degree of freedom (1-DOF) represented by two concave-shaped pectoral fins. The steering mechanism adopted in this work is based on the differential drive principle. This principle is carried out by varying the right/left fins velocities. Different radii have been observed with four different cases of velocities. Diving underwater, is another aspect that has been taking into account during this work. The designed robot uses a mass sliding mechanism to change its center of gravity, and consequently, controlling the pitch angle and hence the depth of the robot. The designed glider robot is able to achieve about 40° of pitch angle and swims for a depth of approximately 30 cm underwater. The results of these experiments showed the success of the proposed robot to steer and dive efficiently.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Li, Z., Ge, L., Xu, W., Du, Y.: Turning characteristics of biomimetic robotic fish driven by two degrees of freedom of pectoral fins and flexible body/caudal fin. Int. J. Adv. Robot. Syst. 15, 172988141774995 (2018). https://doi.org/10.1177/1729881417749950

    Article  Google Scholar 

  2. Salumäe, T., Chemori, A., Kruusmaa, M.: Motion control of a hovering biomimetic 4-fin underwater robot. IEEE J. Ocean. Eng. Inst. Electr. Electron. Eng. 44(1), 54–71 (2019)

    Google Scholar 

  3. Ryuh, Y.S., Yang, G.H., Liu, J., Hu, H.: A School of Robotic Fish for Mariculture monitoring in the sea coast. J Bionic Eng. 12, 37–46 (2015). https://doi.org/10.1016/S1672-6529(14)60098-6

    Article  Google Scholar 

  4. Kohl, A., Pettersen, K., Kelasidi, E., Gravdahl, J.: Planar path following of underwater snake robots in the presence of ocean currents. IEEE Robot. Autom. Lett. 1, 383–390 (2016)

    Article  Google Scholar 

  5. Rashid, M., Naser, F., & Mjily, A.H.: Autonomous micro-robot like sperm based on piezoelectric actuator. 2020 International Conference on Electrical, Communication, and Computer Engineering (ICECCE), pp. 1–6 (2020)

  6. Fish, F.E.: Advantages of aquatic animals as models for bio-inspired drones over present AUV technology. Bioinspir Biomim. 15(2), 025001 (2020). https://doi.org/10.1088/1748-3190/ab5a34

    Article  MathSciNet  Google Scholar 

  7. Yao, G., Liang, J., Wang, T., X. Yang, Shen, Q., Y. Zhang, Wu, H., Tian, W.: Development of a turtle-like underwater vehicle using central pattern generator. 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 44–49 (2013)

  8. Geder, J., Ramamurti, R., Edwards, D., Young, T., Pruessner, M.: Development of a robotic fin for hydrodynamic propulsion and aerodynamic control, 2014 oceans - St. John’s, 2014, pp. 1-7 (2014). https://doi.org/10.1109/OCEANS.2014.7003090

  9. Siegenthaler, C., Pradalier, C., Günther, F., Hitz, G., Siegwart, R.: System integration and fin trajectory design for a robotic sea-turtle System integration and fin trajectory Design for a robotic sea-turtle, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 3790–3795 (2013). https://doi.org/10.1109/IROS.2013.6696898

  10. Zhong, Y., Li, Z., Du, R.: Robot fish with two-DOF pectoral fins and a wire-driven caudal fin. Adv. Robot. 32, 25–36 (2018). https://doi.org/10.1080/01691864.2017.1392344

    Article  Google Scholar 

  11. Hunt, R., Trabia, S., Olsen, Z., Kim, K.: A soft-robotic harbor porpoise pectoral fin driven by coiled polymer actuators as artificial muscles. Adv. Intell. Syst. 1(4), 1–9 (2019). https://doi.org/10.1002/aisy.201900028C

    Article  Google Scholar 

  12. Behbahani, S., Wang, J., Tan, X.: A dynamic model for robotic fish with flexible pectoral fins, IEEE/ASME international conference on advanced intelligent mechatronics (AIM), pp. 1552-1557 (2013)

  13. Behbahani, S., Wang, J., Tan, X.: Role of pectoral fin flexibility in robotic fish performance. J. Nonlinear Sci. 27, 1155–1181 (2017)

    Article  MathSciNet  Google Scholar 

  14. Behbahani, S., Wang, J., Tan, X.: Bio-inspired flexible joints with passive feathering for robotic fish pectoral fins. Bioinspiration Biomim. 11, 036009 (2016)

    Article  Google Scholar 

  15. Behbahani, S., Wang, J., Tan, X.: Design and modeling of flexible passive rowing joint for robotic fish pectoral fins. IEEE Trans. Robot. 32(5), 1119–1132 (2016)

    Article  Google Scholar 

  16. Pham, V., Nguyen, T., Lee, B., Vo, T.: Dynamic analysis of a robotic Fish propelled by flexible folding pectoral fins. Robotica. 38(4), 699–718 (2020). https://doi.org/10.1017/S0263574719000997

    Article  Google Scholar 

  17. Latarius, K., Schauer, U., Wisotzki, A.: Near-ice hydrographic data from Seaglider missions in the western Greenland Sea in summer 2014 and 2015. Earth Syst. Sci. Data. 11, 895–920 (2019). https://doi.org/10.5194/essd-11-895-2019

    Article  Google Scholar 

  18. Kamila, S., Przemysław, D.: CFD approach to modelling hydrodynamic characteristics of underwater glider. Trans. Aerosp. Res. 4(257), 32–45 (2019). https://doi.org/10.2478/tar-2019-0021

    Article  Google Scholar 

  19. Cao, J., Lu, D., Li, D., Zeng, Z., Yao, B., Lian, L.: Smartfloat: a multimodal underwater vehicle combining float and glider capabilities. IEEE Access. 7, 77825–77838 (2019). https://doi.org/10.1109/ACCESS.2019.2922171

    Article  Google Scholar 

  20. Yu, Y., Zhang, F., Zhang,A., Jin, W., Tian, Y.: Motion parameter optimization and sensor scheduling for the sea-wing underwater glider. IEEE J. Ocean. Eng. 2013, 38, 243–254

  21. Seo, D., Jo, G., Choi, H.: Pitching control simulation of an underwater glider using CFD analysis. In: Proceedings of the Oceans—MTS/IEEE Kobe Techno-Ocean, Kobe, Japan, 8–11, pp. 1–5 (2008)

  22. Petritoli, E., Leccese, F., Cagnetti, M.: High accuracy buoyancy for underwater gliders: the uncertainty in the depth control. Sensors. 19(8), 1831 (2019). https://doi.org/10.3390/s19081831

    Article  Google Scholar 

  23. Leccese, F. et al.: A simple Takagi-Sugeno fuzzy modelling case study for an underwater glider control system. 2018 IEEE international workshop on metrology for the sea; Learning to Measure Sea Health Parameters (MetroSea), pp. 262–267 (2018). https://doi.org/10.1109/MetroSea.2018.8657877

  24. Wood, S.: State of Technology in Autonomous Underwater Gliders. Mar. Technol. Soc. J. 2013(47), 5 (2013)

    Google Scholar 

  25. Waldmann, C., Kausche, A., Iversen, M., Pototzky, A., Looye, G., Montenegro, S., Bachmayer, R., Wilde, D.: MOTH-an underwater glider design study carried out as part of the HGF alliance ROBEX. 2014 IEEE/OES Autonomous Underwater Vehicles (AUV), 1–3 (2014)

  26. Stommel, H.: The Slocum Mission. Oceanography. 2(1), 22–25 (1989). https://doi.org/10.5670/oceanog.1989.26

    Article  Google Scholar 

  27. Bhatta, P., Ne, L.: Nonlinear gliding stability and control for vehicles with hydrodynamic forcing. Automatica. 445, 1240–1250 (2008)

    Article  MathSciNet  Google Scholar 

  28. Naser, F., Rashid, M.: Design, modeling, and experimental validation of a concave-shape pectoral fin of labriform-mode swimming robot. Eng. Rep. 1, 1–17 (2019)

    Google Scholar 

  29. Naser, F., Rashid, M.: Effect of Reynolds Number and Angle of Attack on the Hydrodynamic Forces Generated from a Bionic Concave Pectoral Fins, In: The fourth scientific conference for engineering and postgraduate research, pp. 1–14 (2019)

  30. Naser, F., Rashid, M.: The Influence of concave pectoral fin morphology in the performance of labriform swimming robot. Iraq J. Electr. Electron. Eng. 16(1), 54–61 (2020). https://doi.org/10.37917/ijeee.16.1.7

    Article  Google Scholar 

  31. Naser, F., Rashid, M.: Enhancement of Labriform swimming robot performance based on morphological properties of pectoral fins. J Control Autom Electr Syst. 32, 927–941 (2021)

    Article  Google Scholar 

  32. Shih, C., Lin, L.: Trajectory planning and tracking control of a differential-drive mobile robot in a picture drawing application. Robotics. 6(3), 17 (2017)

    Article  Google Scholar 

  33. Loc, M., Choi, H., Kim, J., Yoon, J.: Design and control of an AUV with weight balance. Oceans – Yeosu, Yeosu, pp. 1–8 (2012)

  34. Fossen, T.: Handbook of marine craft hydrodynamics and motion control, 1st edn, p. 122. John Wiley & Sons ltd, Norway (2011)

  35. Oo, H., Anatolii, S., Naung, Y., Ye, K., Khaing, Z.: Modelling and control of an open-loop stepper motor in Matlab/Simulink. 2017 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus), St. Petersburg, pp. 869–872 (2017)

  36. Tan, X., Carpenter, M., Thon, J., Alequin-Ramos, F.: Analytical modeling and experimental studies of robotic Fish turning. IEEE international conference on robotics and automation (ICRA), Anchorage, AK, May 3–7, pp. 102–108 (2010)

  37. Ye, Z., Hou, P., Chen, Z.: 2D maneuverable robotic Fish propelled by multiple ionic polymer–metal composite artificial fins. Int. J. Intell. Rob. Appl. 2, 195–208 (2017)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Electrical Engineering Department, University of Basrah, Basrah, Iraq

    Farah Abbas Naser & Mofeed Turky Rashid

Authors
  1. Farah Abbas Naser
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mofeed Turky Rashid
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Farah Abbas Naser.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Naser, F.A., Rashid, M.T. Labriform Swimming Robot with Steering and Diving Capabilities. J Intell Robot Syst 103, 14 (2021). https://doi.org/10.1007/s10846-021-01454-7

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10846-021-01454-7

Keywords

Search

Navigation