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Conference on Biomimetic and Biohybrid Systems

Living Machines 2015: Biomimetic and Biohybrid Systems pp 50–63Cite as

Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9222))

Abstract

Mimicking biological system successfully requires that the materials used in building such a system are qualitatively similar to that offered by the biological systems. One of such material is carbon filled natural rubber. Furthermore, biological systems implements various forms of support structures of which the ones imitated in this work is referred to as muscular hydrostatic support as opposed to fluid filled hydrostatic support. A muscular hydrostatic model proposed could be adapted to 3D motion but a planar joint/support was implemented as a proof of concept based on teleost fish - 394.01 mm long Mackerel. Static test indicate a well mimicked tail motion even with just three actuators. Turning test of the robotic fish inside tight box was successful as it was able to turn after several attempts. Also the robot was able to swim in a shallow pool of water where it attained 0.985m/s linear speed.

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Author information

Authors and Affiliations

  1. Mechanical Engineering Department, Ahmadu Bello University, Zaria, Nigeria

    Matthew Olatunde Afolayan

Authors
  1. Matthew Olatunde Afolayan
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Correspondence to Matthew Olatunde Afolayan .

Editor information

Editors and Affiliations

  1. University of Sheffield, Sheffield, United Kingdom

    Stuart P. Wilson

  2. Catalan Institution for Research and Advanced Studies, Universitat Pompeu Fabra, Barcelona, Spain

    Paul F.M.J. Verschure

  3. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, United Kingdom

    Tony J. Prescott

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Afolayan, M.O. (2015). Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton. In: Wilson, S., Verschure, P., Mura, A., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2015. Lecture Notes in Computer Science(), vol 9222. Springer, Cham. https://doi.org/10.1007/978-3-319-22979-9_5

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  • DOI: https://doi.org/10.1007/978-3-319-22979-9_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22978-2

  • Online ISBN: 978-3-319-22979-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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