title   
  

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 (IROS 2013), Tokyo, Japan

This is the latest version of this item.

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
1406Kb

Official URL: http://dx.doi.org/10.1109/IROS.2013.6697017

Abstract

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
Subjects:UNSPECIFIED
ID Code:23051
Deposited By:Serhat Yeşilyurt
Deposited On:21 Jan 2014 10:39
Last Modified:07 Feb 2014 15:49

Available Versions of this Item

Repository Staff Only: item control page