Highly Maneuverable Robotic Fish Based on Biological Principles and Biomimetic Materials

Sponsor: Office of Naval Research

This project aims to develop highly maneuverable and efficient robotic fish by advancing biomimetic actuation and sensing materials, and by designing and controlling the robotic fish based on biological principles. The research is concentrated on

• Biomimetic actuation.  Inspired by fins of living fish, we are developing flexible artificial fins capable of complex 3D deformations based on electroactive polymers, seeking fundamental understanding of electro-mechano-hydrodynamics in fin-fluid interactions, and  investigating biologically inspired maneuvering and propulsion strategies for biomimetic pectoral and caudal fins.

• Bioinspired flow sensing. We are interested in developing micro flow sensors through novel microfabrication processes, characterizing and modeling the sensory response in a variety of flow conditions that are of biological and engineering interest, and exploring the use of arrays of such sensors as an artificial lateral line system for robotic fish.

• Feedback flow control. We will investigate artificial lateral line-based feedback control of biomimetic fins to achieve maneuvers and schooling behaviors of robotic fish.

Click the two pictures below for video clips  of our free-swimming robotic fish prototypes in action (Left: NEMO ; Right: with custom-built body ). They are propelled and maneuvered by an IPMC caudal fin, and equipped onboard with control, communication, and localization modules for potentially autonomous operation.