Abstract
For their efficient and elegant locomotion, batoid fishes (e.g. the manta ray) have been widely studied in biology, and also taken as a source of inspiration by engineers and roboticists willing to replicate their propulsion mechanism in order to build efficient swimming machines. In this work, a new model of an under-actuated compliant wing is proposed, exhibiting both the oscillatory and undulatory behaviors underlying batoid propulsion mechanism. The proposed model allowed an investigation of the co-evolution of morphology and control, exploiting dynamics emergent from the interaction between the environment and the mechanical properties of the soft materials. Having condensed such aspects in a mathematical model, we studied the adaptability of a batoid-like morphology to different environments. As for biology, our main contribution is an exploration of the parameters linking swimming mechanics, morphology and environment. This can contribute to a deeper understanding of the factors that led various species of the batoid group to phylogenetically adapt to different environments. From a robotics standpoint, this work offers an additional example remarking the importance of morphological computation and embodied intelligence. A direct application can be an under-water soft robot capable of adapting morphology and control to reach the maximum swimming efficiency.
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Cacucciolo, V., Corucci, F., Cianchetti, M., Laschi, C. (2014). Evolving Optimal Swimming in Different Fluids: A Study Inspired by batoid Fishes. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_3
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DOI: https://doi.org/10.1007/978-3-319-09435-9_3
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09434-2
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