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Computer Science > Robotics

arXiv:2108.12285 (cs)
[Submitted on 20 Jul 2021 (v1), last revised 3 Jun 2022 (this version, v2)]

Title:OpenFish: Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion

Authors:Sander C. van den Berg, Rob B.N. Scharff, Zoltán Rusák, Jun Wu
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Abstract:We present OpenFish: an open source soft robotic fish which is optimized for speed and efficiency. The soft robotic fish uses a combination of an active and passive tail segment to accurately mimic the thunniform swimming mode. Through the implementation of a novel propulsion system that is capable of achieving higher oscillation frequencies with a more sinusoidal waveform, the open source soft robotic fish achieves a top speed of $0.85~\mathrm{m/s}$. Hereby, it outperforms the previously reported fastest soft robotic fish by $27\%$. Besides the propulsion system, the optimization of the fish morphology played a crucial role in achieving this speed. In this work, a detailed description of the design, construction and customization of the soft robotic fish is presented. Hereby, we hope this open source design will accelerate future research and developments in soft robotic fish.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2108.12285 [cs.RO]
  (or arXiv:2108.12285v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.12285
Journal reference: HardwareX, 2022, e00320, ISSN 2468-0672, (https://www.sciencedirect.com/science/article/pii/S2468067222000657)
Related DOI: https://doi.org/10.1016/j.ohx.2022.e00320

Submission history

From: Rob Scharff [view email]
[v1] Tue, 20 Jul 2021 08:38:08 UTC (5,315 KB)
[v2] Fri, 3 Jun 2022 12:48:12 UTC (3,967 KB)
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