In-channel experiments on vertical swimming with bacteria-like robots

Tabak, Ahmet Fatih and Yeşilyurt, Serhat (2013) In-channel experiments on vertical swimming with bacteria-like robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan (Accepted/In Press)

WarningThere is a more recent version of this item available.

PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader


Bio-inspired micro-robots are of great importance as to implement versatile microsystems for a variety of in vivo and in vitro applications in medicine and biology. Accurate models are necessary to understand the swimming and rigidbody dynamics of such systems. In this study, a series of experiments are conducted with a two-link cm-scale bioinspired robot moving vertically without a tether, in siliconefilled narrow cylindrical glass channels. Swimming velocities are obtained for a set of varying tail and wave geometries, and employed to validate a resistive force theory (RFT) model using modified resistance coefficients based on measured forward velocity and body rotation rates.

Item Type:Papers in Conference Proceedings
ID Code:21794
Deposited By:Serhat Yeşilyurt
Deposited On:28 Sep 2013 22:54
Last Modified:01 Aug 2019 10:55

Available Versions of this Item

Repository Staff Only: item control page