Configurable Tendon-driven Fin-ray for Multimodal Biomimetic Aquatic Locomotion

Oscillatory and undulating motion is a common mechanism employed for locomotion by marine animals, e.g. it can be found in rays, eels and cuttlefish. However, a deeper understanding of the underlying physical processes involved in these locomotion strategies and why they are so successful in evolution is still poorly understood. Further, these locomotion strategies are so far hardly employed in aquatic robotic systems.

The project aims to address these overarching questions by developing a biomimetic aquatic actuator suitable for various methods of propulsion in aquatic environments. Further, it aims to evaluate how the mechanical structure, material properties and actuation method of the biomimetic actuator will affect the swimming performance of bio-inspired aquatic robots as well as determine the energy efficiency.

This will be achieved through the objectives of a) the characterization of the mechanical properties of developed small-scale tendon driven actuator, b) the kinematic characterisation of multiple actuators coupled by a membrane to mimic animal-like fin configurations, c) integration of developed actuators into small-scale aquatic robots and d) development of control strategies for small-scale aquatic robots.

Novelty of this project lays in a) development of a novel class of biomimetic soft-robotic actuators for aquatic environments, b) development of new, low-cost fabrication processes for versatile aquatic actuators based on origami and kirigami folding strategies and their thorough characterization, c) implementation of actuators suitable for high-degree-of-motion in aquatic environments and d) demonstration of bio-inspired small-scale aquatic robots with locomotion patterns similar to real-world marine animals.

Overall, the project contributes to the Physics grand challenge: Understanding the physics of life with impact on the EPSRC grand themes: Engineering, Physical Sciences and Manufacturing the future. Specifically, the following research areas: Continuum mechanics, Electrical motors and drives and electromagnetics, Robotics, Engineering design, Synthetic biology and Fluid dynamics and aerodynamics.