Abstract
Research in animal behavior is increasingly benefiting from the field of robotics, whereby robots are being continuously integrated in a number of hypothesis-driven studies. A variety of robotic fish have been designed after the morphophysiology of live fish to study social behavior. Of the current design factors limiting the mimicry of live fish, size is a critical drawback, with available robotic fish generally exceeding the size of popular fish species for laboratory experiments. Here, we present the design and testing of a novel free-swimming miniature robotic fish for animal-robot studies. The robotic fish capitalizes on recent advances in multi-material three-dimensional printing that afford the integration of a range of material properties in a single print task. This capability has been leveraged in a novel design of a robotic fish, where waterproofing and kinematic functionalities are incorporated in the robotic fish. Particle image velocimetry is leveraged to systematically examine thrust production, and independent experiments are conducted in a water tunnel to evaluate drag. This information is utilized to aid the study of the forward locomotion of the robotic fish, through reduced-order modeling and experiments. Swimming efficiency and turning maneuverability is demonstrated through target experiments. This robotic fish prototype is envisaged as a tool for animal-robot interaction studies, overcoming size limitations of current design.
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Acknowledgements
This material is based upon work supported by the National Science Foundation under Grant Nos. DRL-1200911, CMMI-1433670, and OISE-1545857. The work of V. Mwaffo was supported in part by a Mitsui USA Foundation scholarship. Alessandro Rizzo acknowledges the support of Compagnia di San Paolo, Italy. The authors would like to thank Gabrielle Cord-Cruz for assisting with the experimental swimming tests.
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Phamduy, P., Vazquez, M.A., Kim, C. et al. Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing. Int J Intell Robot Appl 1, 209–223 (2017). https://doi.org/10.1007/s41315-017-0012-z
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DOI: https://doi.org/10.1007/s41315-017-0012-z