ArticleFrontiers in robotics and AI2021
Design, Modeling, and Visual Learning-Based Control of Soft Robotic Fish Driven by Super-Coiled Polymers.
Article in Frontiers in robotics and AI, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed, 20 citations in OpenAlex.
- Longitudinal Model Identification and Controller Design for a Fish Robot with Control Fins via Experiments.Biomimetics (Basel, Switzerland) · 2025Article
- Learning-based control for tendon-driven continuum robotic arms.Frontiers in robotics and AI · 2025Article
- Article
- Design, Implementation, and Observer-based Output Control of a Super-coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye.IEEE robotics and automation letters · 2023Article
- A Survey on Reinforcement Learning Methods in Bionic Underwater Robots.Biomimetics (Basel, Switzerland) · 2023Article
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Authors and funding
2 authors at 2 institutions in 2 countries.
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Abstract
A rapidly growing field of aquatic bio-inspired soft robotics takes advantage of the underwater animals' bio-mechanisms, where its applications are foreseen in a vast domain such as underwater exploration, environmental monitoring, search and rescue, oil-spill detection, etc. Improved maneuverability and locomotion of such robots call for designs with higher level of biomimicry, reduced order of complex modeling due to continuum elastic dynamics, and challenging robust nonlinear controllers. This paper presents a novel design of a soft robotic fish actively actuated by a newly developed kind of artificial muscles-super-coiled polymers (SCP) and passively propelled by a caudal fin. Besides SCP exhibiting several advantages in terms of flexibility, cost and fabrication duration, this design benefits from the SCP's significantly quicker recovery due to water-based cooling. The soft robotic fish is approximated as a 3-link representation and mathematically modeled from its geometric and dynamic perspectives to constitute the combined system dynamics of the SCP actuators and hydrodynamics of the fish, thus realizing two-dimensional fish-swimming motion. The nonlinear dynamic model of the SCP driven soft robotic fish, ignoring uncertainties and unmodeled dynamics, necessitates the development of robust/intelligent control which serves as the motivation to not only mimic the bio-mechanisms, but also mimic the cognitive abilities of a real fish. Therefore, a learning-based control design is proposed to meet the yaw control objective and study its performance in path following
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