TY - GEN
T1 - Myometry-driven compliant-body design for underwater propulsion
AU - Akanyeti, O.
AU - Ernits, A.
AU - Fiazza, C.
AU - Toming, G.
AU - Kulikovskis, G.
AU - Listak, M.
AU - Raag, R.
AU - Salumäe, T.
AU - Fiorini, P.
AU - Kruusmaa, M.
PY - 2010/7/15
Y1 - 2010/7/15
N2 - Within the broader scope of underwater biomimetics, in this paper we address the relevance of factors such as shape and elasticity distribution in the ability of a compliant device to imitate the kinematic behaviour of a fish. We assess the viability of myometry as a tool to determine candidate mechanical parameters without relying solely on analytical models; we show that we can obtain elasticity distributions that are both consistent with previous theoretical investigations and experimentally better adherent to the passive kinematics of a biological embodiment (rainbow trout).
AB - Within the broader scope of underwater biomimetics, in this paper we address the relevance of factors such as shape and elasticity distribution in the ability of a compliant device to imitate the kinematic behaviour of a fish. We assess the viability of myometry as a tool to determine candidate mechanical parameters without relying solely on analytical models; we show that we can obtain elasticity distributions that are both consistent with previous theoretical investigations and experimentally better adherent to the passive kinematics of a biological embodiment (rainbow trout).
UR - http://www.scopus.com/inward/record.url?scp=77955826092&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509431
DO - 10.1109/ROBOT.2010.5509431
M3 - Conference Proceeding (Non-Journal item)
AN - SCOPUS:77955826092
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 84
EP - 89
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -