Demonstration of a Novel Phase Lag Controlled Roll Rotation Mechanism using a Two-DOF Soft Swimming Robot
Bangyuan Liu,Frank L. Hammond,Bangyuan Liu,Frank L. Hammond
Underwater roll rotation is a basic but essential maneuver that allows many biological swimmers to achieve high maneuverability and complex locomotion patterns. In particular, sea mammals (e.g., sea otter) with flexible vertebra structures have a unique mechanism to efficiently achieve roll rotation, not propelled mainly by inter-digital webbing or fin, but by bending and twisting their body.In th...
