TY - GEN
T1 - A jellyfish-like robot for mimicking jet propulsion
AU - Nir, Shvalb
AU - Ruchaevski, Igor
AU - Shraga, Shoval
AU - Shteinberg, Tamir
AU - Ben Moshe, Boaz
PY - 2012
Y1 - 2012
N2 - Soft robotic links that construct a soft skeleton mechanism are needed for mimicking motion of muscle tissues. In this paper, we describe a jellyfish like robot, in which the skeleton has to be flaccid on relaxations and firm on the contractions periods. Our jellyfish robot consists of a series of springs that are connected in a unique configuration. This configuration allows the robot to propel itself forward, as well as to control its propulsion direction. A soft tissue that encases all the springs creates the bell shaped body of the jellyfish robot. Three tension springs shaped in a closed ring configuration are connected parallel to each other by lateral springs. The tension (and therefore the length) of each spring in independently controlled using a tension control mechanism. This configuration allows for various propulsion cycles, mimicking the various propulsion modes of real jellyfish.
AB - Soft robotic links that construct a soft skeleton mechanism are needed for mimicking motion of muscle tissues. In this paper, we describe a jellyfish like robot, in which the skeleton has to be flaccid on relaxations and firm on the contractions periods. Our jellyfish robot consists of a series of springs that are connected in a unique configuration. This configuration allows the robot to propel itself forward, as well as to control its propulsion direction. A soft tissue that encases all the springs creates the bell shaped body of the jellyfish robot. Three tension springs shaped in a closed ring configuration are connected parallel to each other by lateral springs. The tension (and therefore the length) of each spring in independently controlled using a tension control mechanism. This configuration allows for various propulsion cycles, mimicking the various propulsion modes of real jellyfish.
UR - http://www.scopus.com/inward/record.url?scp=84871977428&partnerID=8YFLogxK
U2 - 10.1109/EEEI.2012.6377056
DO - 10.1109/EEEI.2012.6377056
M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???
AN - SCOPUS:84871977428
SN - 9781467346801
T3 - 2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
BT - 2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
T2 - 2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
Y2 - 14 November 2012 through 17 November 2012
ER -