In-channel experiments on vertical swimming with bacteria-like robots

Tabak A. F., Yesilyurt S.

2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japonya, 3 - 08 Kasım 2013, ss.4596-4601 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/iros.2013.6697017
  • Basıldığı Şehir: Tokyo
  • Basıldığı Ülke: Japonya
  • Sayfa Sayıları: ss.4596-4601
  • İstanbul Ticaret Üniversitesi Adresli: Evet

Özet

Bio-inspired micro-robots are of great importance as to implement versatile microsystems for a variety of in vivo and in vitro applications in medicine and biology. Accurate models are necessary to understand the swimming and rigid-body dynamics of such systems. In this study, a series of experiments are conducted with a two-link cm-scale bio-inspired robot moving vertically without a tether, in silicone-filled narrow cylindrical glass channels. Swimming velocities are obtained for a set of varying tail and wave geometries, and employed to validate a resistive force theory (RFT) model using modified resistance coefficients based on measured forward velocity and body rotation rates. © 2013 IEEE.