SMA CONTROL FOR BIO-MIMETIC FISH LOCOMOTION

Abstract

In this paper, we describe our current work on bio-inspired locomotion systems using smart materials. The aim of this work is to investigate alternative actuation mechanisms based on smart materials, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot is being developed whose movements are generated using such materials, concretely Shape Memory Alloys. This paper focuses on the actuators control in order to generate the desired motion patterns