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Article: Snapp: An Agile Robotic Fish with 3D Maneuverability for Open Water Swim

TitleSnapp: An Agile Robotic Fish with 3D Maneuverability for Open Water Swim
Authors
Issue Date1-Jul-2023
PublisherInstitute of Electrical and Electronics Engineers
Citation
IEEE Robotics and Automation Letters, 2023 How to Cite?
Abstract

Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Replicating these abilities in robotic fish is challenging; existing designs focus on either fast swimming or directional control at limited speeds, mainly within a confined environment. To address these limitations, we designed Snapp, an integrated robotic fish capable of swimming in open water with high speeds and full 3-dimensional maneuverability.   A novel cyclic-differential method is layered on the mechanism. It integrates propulsion and yaw-steering for fast course corrections. Two independent pectoral fins provide pitch and roll control. We evaluated Snapp in open water environments. We demonstrated significant improvements in speed and maneuverability, achieving swimming speeds of 1.5 m/s (1.7 Body Lengths per second) and performing complex maneuvers, such as a figure-8 and S-shape trajectory.Instantaneous yaw changes of 15$^{\circ}$ in 0.4 s, a minimum turn radius of 0.85 m, and maximum pitch and roll rates of 3.5 rad/s and 1 rad/s, respectively, were recorded. Our results suggest that Snapp's swimming capabilities have excellent practical prospects for open seas and contribute significantly to developing agile robotic fishes.  The accompanying video can be found at this link: 
https://youtu.be/1bGmlN0Jriw


Persistent Identifierhttp://hdl.handle.net/10722/337148
ISSN
2023 Impact Factor: 4.6
2023 SCImago Journal Rankings: 2.119

 

DC FieldValueLanguage
dc.contributor.authorNg, Timothy JK-
dc.contributor.authorChen, Nan-
dc.contributor.authorZhang, Fu-
dc.date.accessioned2024-03-11T10:18:28Z-
dc.date.available2024-03-11T10:18:28Z-
dc.date.issued2023-07-01-
dc.identifier.citationIEEE Robotics and Automation Letters, 2023-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/337148-
dc.description.abstract<p>Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Replicating these abilities in robotic fish is challenging; existing designs focus on either fast swimming or directional control at limited speeds, mainly within a confined environment. To address these limitations, we designed Snapp, an integrated robotic fish capable of swimming in open water with high speeds and full 3-dimensional maneuverability.   A novel cyclic-differential method is layered on the mechanism. It integrates propulsion and yaw-steering for fast course corrections. Two independent pectoral fins provide pitch and roll control. We evaluated Snapp in open water environments. We demonstrated significant improvements in speed and maneuverability, achieving swimming speeds of 1.5 m/s (1.7 Body Lengths per second) and performing complex maneuvers, such as a figure-8 and S-shape trajectory.Instantaneous yaw changes of 15$^{\circ}$ in 0.4 s, a minimum turn radius of 0.85 m, and maximum pitch and roll rates of 3.5 rad/s and 1 rad/s, respectively, were recorded. Our results suggest that Snapp's swimming capabilities have excellent practical prospects for open seas and contribute significantly to developing agile robotic fishes.  The accompanying video can be found at this link: <br>https://youtu.be/1bGmlN0Jriw<br></p>-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.titleSnapp: An Agile Robotic Fish with 3D Maneuverability for Open Water Swim-
dc.typeArticle-
dc.identifier.eissn2377-3766-
dc.identifier.issnl2377-3766-

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