A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish

• Published in: Journal of intelligent & robotic systems 2024-06, Vol.110 (2), p.69, Article 69
• Main Authors: Manduca, Gianluca, Santaera, Gaspare, Miraglia, Marco, Jansen Van Vuuren, Godfried, Dario, Paolo, Stefanini, Cesare, Romano, Donato
• Format: Article
• Language: English
• Subjects: Angular position; Angular speed; Aquatic environment; Artificial Intelligence; Biomimetics; Control; Control systems design; Control theory; D C motors; Electric motors; Electrical Engineering; Energy consumption; Engineering; Maneuverability; Marine technology; Mathematical analysis; Mechanical Engineering; Mechatronics; Regular Paper; Robot control; Robotics; Sensory feedback; Steering; Swimming; Underwater robots
• ISSN: 1573-0409; 0921-0296; 1573-0409
• DOI: 10.1007/s10846-024-02080-9

Bioinspired underwater robots can move efficiently, with agility, even in complex aquatic areas, reducing marine ecosystem disturbance during exploration and inspection. These robots can improve animal farming conditions and preserve wildlife. This study proposes a muscle-like control for an underactuated robot in carangiform swimming mode. The artifact exploits a single DC motor with a non-blocking transmission system to convert the motor’s oscillatory motion into the fishtail’s oscillation. The transmission system combines a magnetic coupling and a wire-driven mechanism. The control strategy was inspired by central pattern generators (CPGs) to control the torque exerted on the fishtail. It integrates proprioceptive sensory feedback to investigate the adaptability to different contexts. A parametrized control law relates the reference target to the fishtail’s angular position. Several tests were carried out to validate the control strategy. The proprioceptive feedback revealed that the controller can adapt to different environments and tail structure changes. The control law parameters variation accesses the robotic fish’s multi-modal swimming. Our solution can vary the swimming speed of 0.08 body lengths per second (BL/s), and change the steering direction and performance by an angular speed and turning curvature radius of 0.08 rad/s and 0.25 m, respectively. Performance can be improved with design changes, while still maintaining the developed control strategy. This approach ensures the robot’s maneuverability despite its underactuated structure. Energy consumption was evaluated under the robotic platform’s control and design. Our bioinspired control system offers an effective, reliable, and sustainable solution for exploring and monitoring aquatic environments, while minimizing human risks and preserving the ecosystem. Additionally, it creates new and innovative opportunities for interacting with marine species. Our findings demonstrate the potential of bioinspired technologies to advance the field of marine science and conservation.