We have developed a rigorous approach to the analysis and control of terrestrial undulatory biomimetic locomotion, and have experimentally verified it. Recently, we have shown that the mechanics of some simplified biomimetic fluid systems have the same form as our terrestrial systems, and therefore all of our new control theory and results should carry over to these idealized fluid cases. During Phase I, we will implement a simple biomimetic fluid locomotion system (a robot 'paramecia' or 'amoeba, 1) based on the squirming circles model to verify our theory. The model will first be explored via a simulation (developed at United Research) and then in an experiment (developed at Caltech). In parallel, the Caltech researchers will work to extend our theory to fluid flow regimes that include more generalized models of viscosity and vorticity. This should prepare us for experimental work in Phase II that would attempt to implement (at United Research), and control (using algorithms developed at Caltech) an actual robot fish where it is known that vorticity is essential to the generation and control of movement.
Benefits: The anticipated results of our research will not only enable (a) nearly silent underwater vehicles, but could also lead to (b) novel hybrid vehicles that combine shape changing elements plus conventional propeller/thrust technology, in order to achieve high maneuverability, (c) smaller scale underwater autonomous vehicles, as it appears that shape changing control paradigms can be implemented on a smaller scale than is desirable for conventional schemes, and (d) sustained endurance underwater autonomous vehicles.
Keywords: biomimetic locomotion nonlinear control hyper-redundant robots underwater vehicle biomimetic locomotion nonlinear control hyper-redundant robots underwater vehicle
