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Comparison of the relationship between pectoral-fin movement and fin shape based on force index for fish-type balloon robot

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Abstract

Balloon robots consist of a balloon body, which is filled with helium to provide buoyancy. In particular, fish-type balloon robots (FBRs) incorporate caudal- and pectoral-fin motions as their propulsion mechanism, which can be combined to realize complex motions. However, the propulsive force generated by the pectoral-fin motion is less, which is a disadvantage, and it is necessary to increase the propulsive force. Since the weight of FBR is limited, it is crucial to select a fin that can generate larger propulsive force at the same weight. In this study, pectoral fins with different shapes and materials are developed, and the propulsive force generated by various fin movements is measured. Finally, the results are compared and discussed relative to the influence of shape and softness on the propulsion.

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Data availability

The measured data from the propulsive force measurement experiment can be provided. All simulation results presented in this paper can be obtained from this measurement data.

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Authors and Affiliations

  1. The Graduate School of Informatics and Engineering, The University of Electro-Communications, Tokyo, Japan

    Naoki Kagiya & Masafumi Uchida

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  1. Naoki Kagiya
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  2. Masafumi Uchida
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Correspondence to Masafumi Uchida.

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This work was presented in part at the joint symposium of the 28th International Symposium on Artificial Life and Robotics, the 8th International Symposium on BioComplexity, and the 6th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Beppu, Oita and Online, January 25–27, 2023).

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Kagiya, N., Uchida, M. Comparison of the relationship between pectoral-fin movement and fin shape based on force index for fish-type balloon robot. Artif Life Robotics 28, 850–858 (2023). https://doi.org/10.1007/s10015-023-00903-w

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  • DOI: https://doi.org/10.1007/s10015-023-00903-w

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