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BoxyBot II Intermediate Presentation

Author: Benjamin Fankhauser Assistants: A. Crespi, M.Porez Professor: A.J.Ijspeert. BoxyBot II Intermediate Presentation. Fin Design, Programmation, Simulation & Testing. Content Overview. General Design Programmation using a CPG Localization and Control Fin Design & Testing

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BoxyBot II Intermediate Presentation

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  1. Author: Benjamin Fankhauser Assistants: A. Crespi, M.Porez Professor: A.J.Ijspeert BoxyBot IIIntermediate Presentation Fin Design, Programmation, Simulation & Testing

  2. Content Overview • General Design • Programmation using a CPG • Localization and Control • Fin Design & Testing • Resonance frequency • Efficiency Estimation • Simulation

  3. Programmation using a CPG

  4. Programmation using a CPG [1] [2]

  5. Localisation and Control

  6. Videos BoxyBotII - Behaviour with proportional controller BoxyBotII - Behaviour without controller

  7. Fin Design - Resonance Frequency Spring Constant:

  8. Results – Fin Amplitude Fin 1 : 95x40 mm FR1=0.7±0.1 Hz Fin 2 : 95x60 mm FR2=0.6±0.1 Hz Amplitude vs. Frequency for fin 2

  9. Simulation – Fin Amplitude Simulated and Real Amplitude vs. Frequency for fin 2 (FR2=0.6±0.1 Hz), Excitation Amplitude 40°, 60° and 80°

  10. Videos Fin Simulation : Frequence 0.6 Hz - Resonance Fin Simulation : Frequence 1.2 Hz Fin Simulation : Frequence 1.8 Hz

  11. Results – Speed and Resonance Frequency Speed and Amplitude vs. Frequency for fin 2 (FR2=0.6±0.1 Hz), Excitation Amplitude 40°

  12. Results – Speed and Excitation Amplitude Speed vs. Frequency for fin 2 (FR2=0.6±0.1 Hz)

  13. Simulation and Reality - Speed Simulated and Real Speed vs. Frequency for fin 2, Excitation Amplitude 60°

  14. BoxyBot Swimming Behaviour

  15. Videos BoxyBotII : Caudal Fin and Body Segment Propulsion BoxyBot II : Pectoral Fin Propulsion BoxyBot II : All Fin Propulsion

  16. Efficiency Estimation [3] [4] Strouhal Number:

  17. Conclusion • BoxyBotII swims in a controlled manner • Fin Design • Resonance Frequency FR • Good Efficiency around FR • Use only Caudal Fins for Propulsion • Simulation • Comparable Amplitude Plot • Model needs Optimizing

  18. Bibliography • A.Crespi, D.Lachat, A.Pasquier, A.J.Ijspeert: „Controlling swimming and crawling in a sh robot using a central pattern generator“, BIRG, School of Computer and Communication Science, Ecole Polytechnique Fédérale de Lausanne (EPFL), Switzerland, 2005 • A. Crespi and A.J. Ijspeert. AmphiBot II: „An amphibious snake robot that crawls and swims using a central pattern generator“, in: Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR 2006), 2006. • S.Heo, T.Wiguna, H.Ch.Park, N.S.Goo: “Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators”, Journal of Bionic Engineering 4, 151-158, 2007 • J.J.Rohr, F.E.Fish: “Strouhal numbers and optimization of swimming by odontocete cetaceans”, The Journal of Experimental Biology 207, 1633-1642, 2004

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