Copying nature - a design of hyper-redundant robot joint/support based on hydrostatic skeleton

Abstract

Mimicking biological system successfully requires that the materials used in building such a system are qualitatively similar to that offered by the biological systems. One of such material is carbon filled natural rubber. Furthermore, biological systems implements various forms of support structures of which the ones imitated in this work is referred to as muscular hydrostatic support as opposed to fluid filled hydrostatic support. A muscular hydrostatic model proposed could be adapted to 3D motion but a planar joint/support was implemented as a proof of concept based on teleost fish - 394.01 mm long Mackerel. Static test indicate a well mimicked tail motion even with just three actuators. Turning test of the robotic fish inside tight box was successful as it was able to turn after several attempts. Also the robot was able to swim in a shallow pool of water where it attained 0.985m/s linear speed.