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

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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
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Serhat Yeşilyurt
Date Deposited: 21 Jan 2014 10:39
Last Modified: 26 Apr 2022 09:12
URI: https://research.sabanciuniv.edu/id/eprint/23051

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