Electroactive polymer flow sensors for a fish-like robot

Iain A. Anderson; Markus Haller; Derek Orbaugh; Sam Rosset; Chris Walker

doi:10.1117/12.2614971

18 April 2022 Electroactive polymer flow sensors for a fish-like robot

Iain A. Anderson, Markus Haller, Derek Orbaugh, Sam Rosset, Chris Walker

Proceedings Volume PC12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV; PC1204208 (2022) https://doi.org/10.1117/12.2614971
Event: SPIE Smart Structures + Nondestructive Evaluation, 2022, Long Beach, California, United States

Abstract

To swim well a fish points towards the oncoming flow. This action, termed rheotaxis is partially enabled by the flow-sensitive neuromasts on the skin of the fish. To mimic this we have fitted an elasto-tensegrity, fish-like robot, Robowahoo, with piezoresistive electroactive polymer sensors, and placed it in a flow-controlled water-flume tank. Signals were recorded as the head was slowly turned in yaw, demonstrating the real-time measurement of head alignment to flow. Such cyber-rheotaxis sensors can be directly linked to tail actuators in closed-loop control, thus bringing us closer to the goal of accurate and efficient robotic fish-like swimming.

Conference Presentation

Citation Download Citation

Iain A. Anderson, Markus Haller, Derek Orbaugh, Sam Rosset, and Chris Walker "Electroactive polymer flow sensors for a fish-like robot", Proc. SPIE PC12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV, PC1204208 (18 April 2022); https://doi.org/10.1117/12.2614971

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