@inproceedings{7a14f77788954dc39084be551108203b,
title = "Development, Modeling, and Testing of a Passive Compliant Bistable Undulatory Robot",
abstract = "This proposed device uses a single actuator to transition a bistable constrained compliant beam to generate undulatory motion. Undulatory locomotion is a unique form of swimming that generates thrust through the propagation of a wave through a fish{\textquoteright}s body. This paper draws inspiration from Anguilliformes and discusses the kinematics and dynamics of wave propagation of a bistable underwater robot. Thrust generation is explored through modeling and experimentation of the length constraint to better understand the device. This paper validates the theoretical spine behavior through experimentation and provides a path forward for future development in device optimization for various applications. Previous work developed devices that utilized either paired soft actuators or multiple redundant classical actuators that resulted in a complex prototype with intricate controls. Our work contrasts with prior work in that it aims to achieve undulatory motion through passive actuation from a single actively driven point which simplifies the control. Through this work, the goal is to further explore low-cost soft robotics via bistable mechanisms, continuum material properties, and simplified modeling practices.",
keywords = "Anguilliform, Bioinspired, Bistable Mechanism, Compliant Material, Simulation",
author = "Anson Kwan and Daniel Aukes",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.; Proceedings of the 12th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2023 ; Conference date: 10-07-2023 Through 13-07-2023",
year = "2023",
doi = "10.1007/978-3-031-38857-6_22",
language = "English (US)",
isbn = "9783031388569",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "289--299",
editor = "Fabian Meder and Laura Margheri and Barbara Mazzolai and Alexander Hunt and Anna Mura",
booktitle = "Biomimetic and Biohybrid Systems - 12th International Conference, Living Machines 2023, Proceedings",
address = "Germany",
}