Abstract
This letter presents a novel design of an oscillatory fin for thrust-efficient and agile underwater robotic locomotion. We propose a flat paddle-fin comprising a set of overlapping cascaded soft flaps that open in one half of the stroke cycle and close in the other. Consequently, asymmetry in the lateral drag force exerted by the fin during oscillatory actuation is passively achieved. This enables a substantially higher degree of efficiency in force generation than conventional oscillatory fins which rely on weaker longitudinal wake-induced forces. Experimental results show a high degree of improvement in net thrust and propulsive-efficiency over conventional fins. Locomotion with the proposed fin has been demonstrated on an underwater robotic platform. Various gaits were achieved using oscillatory actuation, via angular and phase offsets between the actuators.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
