Modelling of Buoyancy Based Actuation of an Inflatable Underwater Soft Robot - Equipe Models and AlgoriThms for pRocessIng and eXtracting information
Conference Papers Year : 2024

Modelling of Buoyancy Based Actuation of an Inflatable Underwater Soft Robot

Abstract

This paper presents a novel actuation method to change the buoyancy of an underwater soft robot by pumping denser and less dense liquids, than the liquid the robot is immersed in, into the robot to actively change the mass of the robot and cause it to experience a change in buoyancy. The technological research gap lies in the method of pumping lighter and heavier fluids into a soft robot to cause it to experience a change in mass and depth, which has not been explored before to the best of the author's knowledge. An analysis of the forces that are placed on the robotic system and the necessary equations to determine the force produced by a solution with a particular ratio of solute to solvent are presented. Preliminary experiments were conducted to test the buoyancy-based actuation method discussed in this paper by building a two link, soft, inflatable robot arm. This robot was shown to change the floatation height of its links when denser fluid was pumped into its links.
Fichier principal
Vignette du fichier
TAROS_Modelling_of_Buoyancy_Based_Actuation_of_an_Inflatable_Underwater_Soft_Robot.pdf (857.64 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-04671507 , version 1 (15-08-2024)

Identifiers

  • HAL Id : hal-04671507 , version 1

Cite

Danyaal Kaleel, Benoit Clement, Kaspar Althoefer. Modelling of Buoyancy Based Actuation of an Inflatable Underwater Soft Robot. TAROS (Towards Autonomous Robotic Systems), Aug 2024, London, United Kingdom. ⟨hal-04671507⟩
127 View
60 Download

Share

More