Image 1 - An efficient and straightforward pipeline for designing and fabricating soft robotic swimmers equipped with electrostatic actuation

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Electrostatic Soft Robotic Fish

Creator: ETH Zurich

Country: Switzerland

Year: 2022

Summary

An efficient and straightforward pipeline for designing and fabricating soft robotic swimmers equipped with electrostatic actuation

Status: Research

Operation: Other

Robot Type / Domain: Research

Tasks: Underwater exploration and inspection

Learn More

Below is an extract from the online article: ETH Zurich (Soft Robotics Laboratory). Electrostatic Soft Robotic Fish. Retrieved from: https://srl.ethz.ch/platforms/sofi/electrostatic-soft-robotic-fish.html

"We provide an efficient and straightforward pipeline for designing and fabricating soft robotic swimmers equipped with electrostatic actuation. We streamline the process to allow for rapid additive manufacturing, and show how a differentiable simulation can be used to match a simplified model to the real deformation of a robotic swimmer. We perform several experiments with the fabricated swimmer by varying the voltage and actuation frequency of the swimmer's antagonistic muscles. We show how the voltage and frequency vary the locomotion speed of the swimmer while moving in liquid oil and observe a clear optimum in forward swimming speed.
The differentiable simulation model we propose has various downstream applications, such as control and shape optimization of the swimmer; optimization results can be directly mapped back to the real robot through our sim-to-real matching."

Technical Specifications

Size: 30L 21W (mm)

Size: 1.181L 0.827W (in)

Max. Payload: N/A

Max. Depth: N/A

Max. Speed: N/A

Battery Operated? No, Tethered

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Min. Weight in Air: N/A

Manipulation: none

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

Show more specs

Controller & Computing: Controlled with an Arduino through a very thin conductive and electrically insulated yarn (Datastretch from Muca)

Material: 3D print, polypropylene, SEBS pellets, PLA

Actuators: Electrostatic actuation

Power supply: The fish is connected to two custom 5 W high voltage (10 kV) power supplies

No more specs to show.

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References

S. -D. Gravert, M. Y. Michelis, S. Rogler, D. Tscholl, T. Buchner and R. K. Katzschmann, "Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 9417-9423, doi: 10.1109/IROS47612.2022.9981192.

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