In-channel experiments on vertical swimming with bacteria-like robots
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 3 - 08 November 2013, pp.4596-4601, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/iros.2013.6697017
- City: Tokyo
- Country: Japan
- Page Numbers: pp.4596-4601
- İstanbul Ticaret University Affiliated: Yes
Abstract
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.