Human-robot coordination for multi-sized fish-like robot using wired communication

A fish-like robot which can swim smoothly has plenty of applications in research and industry. It has extensive monitoring and maneuvering capability attainable at a low driving voltage and has a good response to external stimuli with soft characteristics. This paper presents the methods for making the robot's motion to be in congruence with that of the human being who operates it, obviating the need for sensors. An efficient design of cost effective robots of various sizes which can be interfaced with a single Teaching hand gripper (THG) designed specifically for the palm and fingers for their operation has also been proposed. The THG is calibrated to overcome the discrepancies among potentiometers used for robot motion. The performance of the proposed system is tested on a robot with a single joint and the results are presented for a simple closed loop system. The robot is given fast, medium and slow responses as inputs such that a variation of 30 degrees is achieved in time intervals of 1, 2 and 3 see. The output lag and the system efficiency are analyzed. These robots can be efficiently employed in relatively calm underwater surfaces.