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Miniature Underwater Robotic Fish for Animal-Robot Interactions

[+] Author Affiliations
Paul Phamduy, Miguel Vazquez, Alessandro Rizzo, Maurizio Porfiri

New York University Tandon School of Engineering, Brooklyn, NY

Paper No. DSCC2016-9857, pp. V002T17A009; 7 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


Research in animal behavior has benefited from the availability of robots able to elicit controllable, customizable, and versatile stimuli in behavioral studies. For example, biologically-inspired robotic fish can be designed to mimic the morphophysiology of predators and conspecifics to study fear response and sociality. However, size is a critical limitation of the existing arrays of robotic fish. Here, we present the design of a miniature robotic fish for future animal-robot interaction studies featuring a novel application of multi-material three-dimensional (3D) printing and utilizing a solenoid for actuation. The use of multi-material printing enables a skeletal design of only two parts, while retaining the complete functionality of larger prototypes enclosing requisite electronics and incorporating an active joint for propulsion. Parametric tests are conducted to test the swimming speed of the robotic fish and a compact dynamic model with two degrees of freedom to elucidate swimming of the robotic fish is presented.

Copyright © 2016 by ASME
Topics: Robots , Robotics



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