Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid

Shunichi Kobayashi; Kyota Fujii; Taiga Yamaura; Hirohisa Morikawa

doi:10.20965/jrm.2011.p1073

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JRM Vol.23 No.6 pp. 1073-1079

doi: 10.20965/jrm.2011.p1073

(2011)

Paper:

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Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid

Shunichi Kobayashi^, Kyota Fujii^, Taiga Yamaura^,
and Hirohisa Morikawa^*

^*Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan

^**Mitsubishi Electric Engineering Co., Ltd., Japan

^***Minebea Co., Ltd., Japan

Received:

October 9, 2010

Accepted:

July 4, 2011

Published:

December 20, 2011

Keywords:

biomimetics, propulsion mechanism, anguilliform swimming, omnidirectional propulsion

Abstract

Since most organisms are fairly autonomic, functional and efficient, the study of machines modeled on the movements of organisms has become significant in the engineering field. From this point of view, we observed organisms that swim in water by bending motions and noticed that the direction in which polychaetes swim differs from that of nematodes. This is explained by fleshy protrusions, called parapodia, that increase the worm’s tangential drag component during its movement in water. In this study, we have developed a bio-inspired omnidirectional in fluid propulsion mechanism that changes the angle of these protrusions.

Cite this article as:

S. Kobayashi, K. Fujii, T. Yamaura, and H. Morikawa, “Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid,” J. Robot. Mechatron., Vol.23 No.6, pp. 1073-1079, 2011.

Data files:

References

[1] N. Kato, “State of the Art in Aqua Bio-Mechanisms and Those Applications to Ocean Engineering,” J. of the Kansai Society of Naval Architects, Japan, No.240, pp. 1-10, 2003 (in Japanese).
[2] S. Kobayashi, “Simulation Study for Propulsion Mechanism Imitating Bending Motion of Organisms in Water (Flagellar Motion),” JSME Int. J. Series C, Vol.37, No.2, pp. 342-346, 1994.
[3] S. Kobayashi, “Propulsion Force Characteristics of Propulsion Mechanism Imitating Bendingmovement Organisms in Water,” Trans. Jpn. Soc. Mech. Eng., Vol.60, No.579, B, pp. 3613-3617, 1994 (in Japanese).
[4] S. Kobayashi, A. Sekizuka, T. Okunishi, and H. Morikawa, “Distributed Control for Bending Propulsion Mechanism in Water,” JSME Int. J., Series C, Vol.43, No.4, pp. 929-933, 2000.
[5] T. Terashima, S. Kobayashi, R. Moriwaki, and H. Morikawa, “Multi-link Propulsion Mechanism in Fluid Modeled on Bending Movement of Organisms - Influence of Fin Shape on Propulsive Characteristics -,” Proc. of the 2008 JSME Conf. on Robotics and Mechatronics, Nagano, 2P2-H12, 2008.
[6] M. N. Hultmark, M. Leftwich, and A. J. Smits, “Flowfield measurements in the wake of a robotic lamprey,” Experiments in Fluids, Vol.43, pp. 683-690, 2007.
[7] A. J. Ijspeert and A. Crespi, “Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation (ICRA 2007), pp. 262-268, 2007.
[8] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, “Development of Amphibious Snake-like Robot ACM-R5,” Proc. of 36th Int. Symposium on Robotics (ISR2005), TH3C4, 2005.
[9] A. J. Ijspeert, A. Crespi, D. Ryczko, and J. M. Cabelguen, “From swimming to walking with a salamander robot driven by a spinal cord model,” Science, March 9, 2007, Vol.315, No.5817, pp. 1416-1420, 2007.
[10] R. Alexander, “How animals Move,” Vol.1 , p.533, Maris Multimedia Ltd., 1995.
[11] G. Taylor, “Analysis of the Swimming of Long and Narrow Animals,” Proc. Roy. Soc. [A], Vol. 214, pp. 158-163, 1952.
[12] A. Azuma, “The kinetics of Flying and Swimming,” pp. 155-173, Springer-Verlag, 1992.
[13] S. Kobayashi, T. Terashima, K. Fujii, and H. Morikawa, “Influence of Movement and Fin Shape on the Swimming Speed for the Multilink Propulsion Mechanism in Water,” Proc. of The Fourth Int. Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2009, S34, 2009.
[14] S. Kobayashi, R. Watanabe, T. Oiwa, and H. Morikawa, “Computational Study of Micropropulsion Mechanism in Water Modeled on Flagellum with Projecting Mastigonemes,” J. of Biomechanical Science and Engineering, Vol.4, No.1, pp. 11-12, 2009.
[15] S. Hirose, “Seibutu Kikai Kougaku,” pp. 112-116, Kogyo Chosakai, 1987 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] N. Kato, “State of the Art in Aqua Bio-Mechanisms and Those Applications to Ocean Engineering,” J. of the Kansai Society of Naval Architects, Japan, No.240, pp. 1-10, 2003 (in Japanese).

[2] [2] S. Kobayashi, “Simulation Study for Propulsion Mechanism Imitating Bending Motion of Organisms in Water (Flagellar Motion),” JSME Int. J. Series C, Vol.37, No.2, pp. 342-346, 1994.

[3] [3] S. Kobayashi, “Propulsion Force Characteristics of Propulsion Mechanism Imitating Bendingmovement Organisms in Water,” Trans. Jpn. Soc. Mech. Eng., Vol.60, No.579, B, pp. 3613-3617, 1994 (in Japanese).

[4] [4] S. Kobayashi, A. Sekizuka, T. Okunishi, and H. Morikawa, “Distributed Control for Bending Propulsion Mechanism in Water,” JSME Int. J., Series C, Vol.43, No.4, pp. 929-933, 2000.

[5] [5] T. Terashima, S. Kobayashi, R. Moriwaki, and H. Morikawa, “Multi-link Propulsion Mechanism in Fluid Modeled on Bending Movement of Organisms - Influence of Fin Shape on Propulsive Characteristics -,” Proc. of the 2008 JSME Conf. on Robotics and Mechatronics, Nagano, 2P2-H12, 2008.

[6] [6] M. N. Hultmark, M. Leftwich, and A. J. Smits, “Flowfield measurements in the wake of a robotic lamprey,” Experiments in Fluids, Vol.43, pp. 683-690, 2007.

[7] [7] A. J. Ijspeert and A. Crespi, “Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation (ICRA 2007), pp. 262-268, 2007.

[8] [8] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, “Development of Amphibious Snake-like Robot ACM-R5,” Proc. of 36th Int. Symposium on Robotics (ISR2005), TH3C4, 2005.

[9] [9] A. J. Ijspeert, A. Crespi, D. Ryczko, and J. M. Cabelguen, “From swimming to walking with a salamander robot driven by a spinal cord model,” Science, March 9, 2007, Vol.315, No.5817, pp. 1416-1420, 2007.

[10] [10] R. Alexander, “How animals Move,” Vol.1 , p.533, Maris Multimedia Ltd., 1995.

[11] [11] G. Taylor, “Analysis of the Swimming of Long and Narrow Animals,” Proc. Roy. Soc. [A], Vol. 214, pp. 158-163, 1952.

[12] [12] A. Azuma, “The kinetics of Flying and Swimming,” pp. 155-173, Springer-Verlag, 1992.

[13] [13] S. Kobayashi, T. Terashima, K. Fujii, and H. Morikawa, “Influence of Movement and Fin Shape on the Swimming Speed for the Multilink Propulsion Mechanism in Water,” Proc. of The Fourth Int. Symposium on Aero Aqua Bio-Mechanisms, ISABMEC 2009, S34, 2009.

[14] [14] S. Kobayashi, R. Watanabe, T. Oiwa, and H. Morikawa, “Computational Study of Micropropulsion Mechanism in Water Modeled on Flagellum with Projecting Mastigonemes,” J. of Biomechanical Science and Engineering, Vol.4, No.1, pp. 11-12, 2009.

[15] [15] S. Hirose, “Seibutu Kikai Kougaku,” pp. 112-116, Kogyo Chosakai, 1987 (in Japanese).

Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid

Shunichi Kobayashi*, Kyota Fujii**, Taiga Yamaura***, and Hirohisa Morikawa*

Shunichi Kobayashi^, Kyota Fujii^, Taiga Yamaura^,
and Hirohisa Morikawa^*