Model-Based Design Optimization of Underwater Flagellate Propellers

Costanza Armanini; Aysha Ali Alshehhi; Anup Teejo Mathew; Ikhlas Ben Hmida; Cesare Stefanini; Federico Renda

doi:10.1109/LRA.2022.3192886

Model-Based Design Optimization of Underwater Flagellate Propellers

Costanza Armanini, Aysha Ali Alshehhi, Anup Teejo Mathew, Ikhlas Ben Hmida, Cesare Stefanini, Federico Renda

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

A new family of soft underwater propellers has been recently presented. Mimicking the swimming strategy of bacterial flagella, these modules passively adapt to the surrounding fluid to provide a propulsive thrust. In the present paper we aim at further investigating the behaviour of this device and we address the optimization of its design towards improved swimming capabilities. This process is allowed by an accurate, yet simple, theoretical model which is able to precisely describe the robot's behaviour. The optimal prototype is fabricated, employing a composite material that is ad-hoc designed to provide the optimal stiffness. Finally, a simple robotic prototype is built and tested to validate the improved performances.

Original language	British English
Pages (from-to)	10089-10096
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2022.3192886
State	Published - 1 Oct 2022

Keywords

and learning for soft robots
control
Modeling
Soft robot applications

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title = "Model-Based Design Optimization of Underwater Flagellate Propellers",

abstract = "A new family of soft underwater propellers has been recently presented. Mimicking the swimming strategy of bacterial flagella, these modules passively adapt to the surrounding fluid to provide a propulsive thrust. In the present paper we aim at further investigating the behaviour of this device and we address the optimization of its design towards improved swimming capabilities. This process is allowed by an accurate, yet simple, theoretical model which is able to precisely describe the robot's behaviour. The optimal prototype is fabricated, employing a composite material that is ad-hoc designed to provide the optimal stiffness. Finally, a simple robotic prototype is built and tested to validate the improved performances.",

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author = "Costanza Armanini and Alshehhi, {Aysha Ali} and Mathew, {Anup Teejo} and Hmida, {Ikhlas Ben} and Cesare Stefanini and Federico Renda",

note = "Funding Information: This work was supported in part by the US Office of Naval Research Global under Grant N62909-21-1-2033 and in part by the Khalifa University of Science and Technology under Grants CIRA-2020-074 and RC1-2018-KUCARS. Publisher Copyright: {\textcopyright} 2016 IEEE.",

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AU - Stefanini, Cesare

AU - Renda, Federico

N1 - Funding Information: This work was supported in part by the US Office of Naval Research Global under Grant N62909-21-1-2033 and in part by the Khalifa University of Science and Technology under Grants CIRA-2020-074 and RC1-2018-KUCARS. Publisher Copyright: © 2016 IEEE.

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AB - A new family of soft underwater propellers has been recently presented. Mimicking the swimming strategy of bacterial flagella, these modules passively adapt to the surrounding fluid to provide a propulsive thrust. In the present paper we aim at further investigating the behaviour of this device and we address the optimization of its design towards improved swimming capabilities. This process is allowed by an accurate, yet simple, theoretical model which is able to precisely describe the robot's behaviour. The optimal prototype is fabricated, employing a composite material that is ad-hoc designed to provide the optimal stiffness. Finally, a simple robotic prototype is built and tested to validate the improved performances.

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KW - control

KW - Modeling

KW - Soft robot applications

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JF - IEEE Robotics and Automation Letters

IS - 4

ER -

Model-Based Design Optimization of Underwater Flagellate Propellers

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Keywords

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