BIOMIMETIC LOCOMOTION FOR A ROBOTIC STINGRAY USING MEMS SENSORS

被引：0
|
作者：
Asadnia, M. [1 ,2 ]
Kottapalli, A. G. P. [2 ]
Cloitre, A. [3 ]
Haghighi, R. [4 ]
Triantafyllou, M. [3 ]
Miao, J. [1 ]
机构：
[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore, Singapore
[2] Singapore MIT Alliance Res & Technol, Ctr Environm Sensing & Modeling CENSAM IRG, Singapore, Singapore
[3] MIT, Dept Mech & Ocean Engn, Cambridge, MA 02139 USA
[4] Nanyang Technol Univ, Dept Elect & Elect Engn, Singapore, Singapore
来源：
2015 TRANSDUCERS - 2015 18TH INTERNATIONAL CONFERENCE ON SOLID-STATE SENSORS, ACTUATORS AND MICROSYSTEMS (TRANSDUCERS) | 2015年
关键词：
MEMS pressure sensor; MEMS flow sensor; unmanned underwater vehicles; ARRAYS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, we present the design, fabrication and experimental results of two types of MEMS sensors for manoeuvring and control of a robotic stingray. The first sensor is a piezoresistive liquid crystal polymer haircell flow sensor which is employed to determine the velocity of propagation of the stingray. The second sensor is a Pb(Zr0.52Ti0.48)O-3 piezoelectric micro-diaphragm pressure sensor which measures various flapping profiles of the stingray's fins which are keys parameters to control the robot locomotion. The piezoelectric sensors show an excellent performance in tracking the trajectory of the fins of the stingray. Although a robotic stingray is used as a platform to emphasize the role of the MEMS sensors, the applications can be extended to most underwater robotic vehicles (URVs).
引用
收藏
页码：831 / 834
页数：4
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