Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
Sci Robot. 2018 Mar 21;3(16). doi: 10.1126/scirobotics.aar3449.
Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in their natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic vertical diving. This work builds on previous generations of robotic fish that were restricted to one plane in shallow water and lacked remote control. Experimental results gathered from tests along coral reefs in the Pacific Ocean show that the robotic fish can successfully navigate around aquatic life at depths ranging from 0 to 18 meters. Furthermore, our robotic fish exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design that can potentially facilitate a more natural integration into the ocean environment. We believe that our study advances beyond what is currently achievable using traditional thruster-based and tethered autonomous underwater vehicles, demonstrating methods that can be used in the future for studying the interactions of aquatic life and ocean dynamics.
近距离探索水下生物需要新的交互形式，使用能够进行敏捷游泳动作的仿生生物，配备摄像机，并由远程人员操作支持。目前的机器人原型无法为在其自然栖息地研究海洋生物提供足够的平台。这项工作展示了一种软机器人鱼的设计、制造、控制和海洋测试，这种鱼可以在三维空间中游泳，持续记录它所跟随或参与的水生生物。使用微型化的声学通信模块，潜水员可以通过发送速度、转弯角度和动态垂直潜水等命令来指挥鱼。这项工作建立在前几代机器人鱼的基础上，这些机器人鱼只能在浅水中的一个平面上运动，并且缺乏远程控制。从太平洋珊瑚礁测试中收集的实验结果表明，机器人鱼可以成功地在 0 到 18 米的深度范围内绕过水生生物。此外，我们的机器人鱼展示了一种由软机器人致动器设计实现的逼真的波浪形尾部运动，这可能有助于更自然地融入海洋环境。我们相信，我们的研究超越了目前使用传统推进器和系泊自主水下航行器所能实现的范围，展示了未来用于研究水生生物和海洋动力学相互作用的方法。
