References

[1] R. K. Katzschmann, J. DelPreto, R. MacCurdy and D. Rus, “Exploration of Underwater Life with an Acoustically Controlled Soft Robotic Fish,” Science Robotics, 2018, Vol. 3, Issue 16, doi: 10.1126/scirobotics.aar3449. http://robert.katzschmann.eu/wp-content/uploads/2018/04/katzschmann2018exploration.pdf

[2] R. K. Katzschmann, A. d. Maille, D. L. Dorhout and D. Rus, “Cyclic hydraulic actuation for soft robotic devices,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 3048-3055, doi: 10.1109/IROS.2016.7759472. http://robert.katzschmann.eu/wp-content/uploads/2017/08/katzschmann2016cyclic.pdf

  • Explores 6 different pump designs for SoFi
  • Original gear pump design isn’t great because it requires changing direction of a motor frequently
  • We created a pump based on their design using a centrifugal pump with a custom rotating valve to make it bidirectional

[3] Rus, Daniela & Tolley, Michael. (2015). Design, fabrication and control of soft robots. Nature. 521. 467-75. 10.1038/nature14543. https://www.researchgate.net/publication/277410991_Design_fabrication_and_control_of_soft_robots

  • Lit review for soft robots, from the lab that created SoFi

[4] Chen, Z., Hou, P., and Ye, Z. (March 25, 2019). “Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail.” ASME. J. Dyn. Sys., Meas., Control. July 2019; 141(7): 071001. doi:10.1115/1.4043101 https://asmedigitalcollection.asme.org/dynamicsystems/article/141/7/071001/726553/Robotic-Fish-Propelled-by-a-Servo-Motor-and-Ionic

  • A hybrid fish tail design that uses both servos and soft actuators
  • Notes that servos are generally more capable of high-frequency movement than soft actuators are, which is important for good fish motion
  • Uses the strengths of servos and soft actuators to make a good fish tail

[5] F. Berlinger, J. Dusek, M. Gauci, and R. Nagpal, “Robust Maneuverability of a Miniature, Low-Cost Underwater Robot Using Multiple Fin Actuation,” in IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 140-147, Jan. 2018, doi: 10.1109/LRA.2017.2734969. https://www.florianberlinger.ch/publications/pdf/ral2017-berlinger.pdf

  • This paper documents Blueswarm, another robotic fish platform that’s smaller than SoFi and uses a simpler actuation method
  • Design uses lots of small fins for control
  • Low-cost, high maneuverability platform
  • Good example of a self-contained robotic system

[6] F. Berlinger, M. Gauci, and R.Nagpal, “Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm,” in Science Robotics, vol. 6, no. 50, 2021, doi: 10.1126/scirobotics.abd8668. https://robotics.sciencemag.org/content/6/50/eabd8668

  • Blueswarm platform has been used to demonstrate swarm behavior

[7] F Berlinger, M Saadat, H Haj-Hariri, G V Lauder, and R Nagpal. “Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot”.Bioinspiration & Biomimetics 16, no.2 (2021): 026018. https://www.florianberlinger.ch/publications/pdf/berlinger2020fish.pdf

  • Documents Blueswarm fish tail dimensions & design
  • We’re using a different fish tail design, but this analysis on the importance of the relative size and shape of the fish body/tail is useful

[8] K. Soltan, J. O’Brien, J. Dusek, F. Berlinger and R. Nagpal, “Biomimetic actuation method for a miniature, low-cost multi-jointed robotic fish,” OCEANS 2018 MTS/IEEE Charleston, 2018, pp. 1-9, doi: 10.1109/OCEANS.2018.8604763. https://ieeexplore.ieee.org/document/8604763

  • Different form of fish locomotion using the same actuator as Blueswarm

[9] Lloret, Jaime et al. “Underwater wireless sensor communications in the 2.4 GHz ISM frequency band.” Sensors (Basel, Switzerland) vol. 12,4 (2012): 4237-64. doi:10.3390/s120404237 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3355409/

  • Evaluates WiFi range underwater
  • At 15cm distance there’s 0% packet loss, at 18cm it’s 100% - in theory, if we don’t dive below 15cm, we could use WiFi to communicate with the robot. Also opens the door for “returning to surface” as a failsafe behavior

[10] G. Schirripa Spagnolo, L. Cozzella, and F. Leccese, “Underwater Optical Wireless Communications: Overview,” Sensors, vol. 20, no. 8, p. 2261, Apr. 2020. https://www.mdpi.com/1424-8220/20/8/2261/htm

  • Light absorption by water based on wavelength
  • Documents high attenuation rates for non-visible wavelengths - motivates use of cameras in our design

[11] Y. Zhong, Z. Li and R. Du, “A Novel Robot Fish With Wire-Driven Active Body and Compliant Tail,” in IEEE/ASME Transactions on Mechatronics, vol. 22, no. 4, pp. 1633-1643, Aug. 2017, doi: 10.1109/TMECH.2017.2712820. https://ieeexplore.ieee.org/document/7942132

  • Cable driven fish tail design
  • We’re not using this design, but it’s another helpful reference as a full self-contained robotic system

[12] A. K. Saha et al., “A low cost remote controlled underwater rover using raspberry Pi,” 2018 IEEE 8th Annual Computing and Communication Workshop and Conference (CCWC), 2018, pp. 769-772, doi: 10.1109/CCWC.2018.8301657. https://ieeexplore-ieee-org.olin.idm.oclc.org/document/8301657?arnumber=8301657

  • Similar scope to our project, tethered video feed and power
  • Integrates several other sensors
  • Measuring depth/pressure underwater ttps://github.com/AmyPhung/robo_fishwould require waterproofed pressure sensors

[13] “Pneumatic Networks for Soft Robotics That Actuate Rapidly.” Soft Robotics Toolkit. https://softroboticstoolkit.com/publications/pneumatic-networks-soft-robotics-actuate-rapidly

  • Design documented here helped improve the actuation rate of our soft tail design

[14] “Towards a Soft Pneumatic Glove for Hand Rehabilitation.” Soft Robotics Toolkit. https://softroboticstoolkit.com/publications/towards-soft-pneumatic-glove-hand-rehabilitation

  • Design documented here helped improve the degree of actuation of our soft tail design

[15] “Hydraulic Autonomous Soft Robotic Fish for 3D Swimming.” http://robert.katzschmann.eu/wp-content/uploads/2017/08/katzschmann2014hydraulic.pdf

  • Design documented here helped us design our soft tails

[16] “Soft Robotics Toolkit Website: Testing”. https://softroboticstoolkit.com/book/pneunets-testing

  • Effect of Actuator Morphology on Pressure Requirements informed tail experiments.