Dynamic modeling of robotic fish and its experimental validation

Abstract

This paper describes a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. We first introduce a one-dimensional viscous model to approximate the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational one, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the plate's cyclic motion leading to the object's continuous deformation. Finally, simulation and experimental results are shown in order to verify the proposed method.