Multi-arm robotic swimmer actuated by antagonistic SMA springs

Michael Sfakiotakis, Asimina Kazakidi, Theodoros Evdaimon, Avgousta Chatzidaki, Dimitris P. Tsakiris

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The present paper considers the modeling, control, development and experimental validation of bio-inspired multiarm underwater robotic swimmers actuated by compliant actuating elements, in the context of the soft robotics paradigm. Each one of the swimmer's compliant arms is actuated at its base by a pair of antagonistic compliant shape memory alloy (SMA) springs. The base joint of each such arm displays hysteretic behavior and asymmetries, which are compensated via the modified Prandtl-Ishlinskii (MPI) model of the joint's response, in conjunction with angular position feedback from a potentiometer. This closed-loop control scheme achieves fast and efficient tracking of a sculling joint motion profile. Experimental results based on a pair of such submerged arms, integrated in a catamaran hull, indicate the feasibility of this actuation and control scheme, providing propulsive speeds up to approximately 0.5 arm lengths per second (∼50 mm/sec) and propulsive forces up to 30 mN. The experimental studies presented, regarding the effect of the arm kinematic parameters on propulsive speed and force, are in qualitative agreement with previous results of our group for rigid-actuator multi-arm underwater swimmers.

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15

Fingerprint

Robotic arms
Shape memory effect
Robotics
Kinematics
Actuators
Feedback

Keywords

  • bio-inspired robotics
  • control
  • marine robotics
  • Prandtl-Ishlinskii model
  • shape memory alloys
  • soft robotics

Cite this

Sfakiotakis, M., Kazakidi, A., Evdaimon, T., Chatzidaki, A., & Tsakiris, D. P. (2015). Multi-arm robotic swimmer actuated by antagonistic SMA springs. 1540-1545. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany. https://doi.org/10.1109/IROS.2015.7353572
Sfakiotakis, Michael ; Kazakidi, Asimina ; Evdaimon, Theodoros ; Chatzidaki, Avgousta ; Tsakiris, Dimitris P. / Multi-arm robotic swimmer actuated by antagonistic SMA springs. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany.6 p.
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Sfakiotakis, M, Kazakidi, A, Evdaimon, T, Chatzidaki, A & Tsakiris, DP 2015, 'Multi-arm robotic swimmer actuated by antagonistic SMA springs' Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15 - 2/10/15, pp. 1540-1545. https://doi.org/10.1109/IROS.2015.7353572

Multi-arm robotic swimmer actuated by antagonistic SMA springs. / Sfakiotakis, Michael; Kazakidi, Asimina; Evdaimon, Theodoros; Chatzidaki, Avgousta; Tsakiris, Dimitris P.

2015. 1540-1545 Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany.

Research output: Contribution to conferencePaper

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T1 - Multi-arm robotic swimmer actuated by antagonistic SMA springs

AU - Sfakiotakis, Michael

AU - Kazakidi, Asimina

AU - Evdaimon, Theodoros

AU - Chatzidaki, Avgousta

AU - Tsakiris, Dimitris P.

PY - 2015/12/11

Y1 - 2015/12/11

N2 - The present paper considers the modeling, control, development and experimental validation of bio-inspired multiarm underwater robotic swimmers actuated by compliant actuating elements, in the context of the soft robotics paradigm. Each one of the swimmer's compliant arms is actuated at its base by a pair of antagonistic compliant shape memory alloy (SMA) springs. The base joint of each such arm displays hysteretic behavior and asymmetries, which are compensated via the modified Prandtl-Ishlinskii (MPI) model of the joint's response, in conjunction with angular position feedback from a potentiometer. This closed-loop control scheme achieves fast and efficient tracking of a sculling joint motion profile. Experimental results based on a pair of such submerged arms, integrated in a catamaran hull, indicate the feasibility of this actuation and control scheme, providing propulsive speeds up to approximately 0.5 arm lengths per second (∼50 mm/sec) and propulsive forces up to 30 mN. The experimental studies presented, regarding the effect of the arm kinematic parameters on propulsive speed and force, are in qualitative agreement with previous results of our group for rigid-actuator multi-arm underwater swimmers.

AB - The present paper considers the modeling, control, development and experimental validation of bio-inspired multiarm underwater robotic swimmers actuated by compliant actuating elements, in the context of the soft robotics paradigm. Each one of the swimmer's compliant arms is actuated at its base by a pair of antagonistic compliant shape memory alloy (SMA) springs. The base joint of each such arm displays hysteretic behavior and asymmetries, which are compensated via the modified Prandtl-Ishlinskii (MPI) model of the joint's response, in conjunction with angular position feedback from a potentiometer. This closed-loop control scheme achieves fast and efficient tracking of a sculling joint motion profile. Experimental results based on a pair of such submerged arms, integrated in a catamaran hull, indicate the feasibility of this actuation and control scheme, providing propulsive speeds up to approximately 0.5 arm lengths per second (∼50 mm/sec) and propulsive forces up to 30 mN. The experimental studies presented, regarding the effect of the arm kinematic parameters on propulsive speed and force, are in qualitative agreement with previous results of our group for rigid-actuator multi-arm underwater swimmers.

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KW - control

KW - marine robotics

KW - Prandtl-Ishlinskii model

KW - shape memory alloys

KW - soft robotics

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Sfakiotakis M, Kazakidi A, Evdaimon T, Chatzidaki A, Tsakiris DP. Multi-arm robotic swimmer actuated by antagonistic SMA springs. 2015. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany. https://doi.org/10.1109/IROS.2015.7353572