TY - JOUR
T1 - Using inverse learning for controlling bionic robotic fish with SMA actuators
AU - Ning, Kewei
AU - Hartono, Pitoyo
AU - Sawada, Hideyuki
N1 - Funding Information:
This work was supported by JSPS Grants-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area) 18H05473 and 18H05895 and by JSPS Grant-in-Aid for Scientific Research (B) 20H04214.
Publisher Copyright:
© 2022, The Author(s), under exclusive licence to The Materials Research Society.
PY - 2022/11
Y1 - 2022/11
N2 - In this study, we develop an untethered bionic soft robotic fish for swimming motion. The body of the fish is molded using soft silicone rubber, and we utilize shape memory alloy wires for its actuators. Its lightness and flexibility allow the robotic fish to generate biomimetic swimming motions. Due to the complexity of mathematically modeling the robot’s swimming dynamics, building a realistic simulator is prohibitively difficult. Hence, in this study, we introduce inverse learning for a feedforward neural network to generate control parameters for realizing desired swimming motions and subsequently utilize the neural network for real-time control. In this paper, we report on the electro-mechanical structure of our robotic fish and the experiment of the neuro-controller. Graphical abstract: [Figure not available: see fulltext.].
AB - In this study, we develop an untethered bionic soft robotic fish for swimming motion. The body of the fish is molded using soft silicone rubber, and we utilize shape memory alloy wires for its actuators. Its lightness and flexibility allow the robotic fish to generate biomimetic swimming motions. Due to the complexity of mathematically modeling the robot’s swimming dynamics, building a realistic simulator is prohibitively difficult. Hence, in this study, we introduce inverse learning for a feedforward neural network to generate control parameters for realizing desired swimming motions and subsequently utilize the neural network for real-time control. In this paper, we report on the electro-mechanical structure of our robotic fish and the experiment of the neuro-controller. Graphical abstract: [Figure not available: see fulltext.].
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U2 - 10.1557/s43580-022-00328-w
DO - 10.1557/s43580-022-00328-w
M3 - Article
AN - SCOPUS:85135707536
SN - 2059-8521
VL - 7
SP - 649
EP - 655
JO - MRS Advances
JF - MRS Advances
IS - 30
ER -