Generating Thrust with a Biologically-Inspired Robotic Ribbon Fin

—We present experimental results of thrust produced by a robotic propulsor, the design of which is inspired by the ribbon fin of the South American black ghost knifefish (Apteronotus albifrons). This remarkably nimble fish moves by oscillating its ribbon fin rays out of phase and thereby passing a traveling, propulsive wave along the fin’s length. Combinations of thrust from the ribbon fin and body rolls produced by the two pectoral fins enable the black ghost to swim in nearly any direction without bending its body. The fish’s agile locomotor system is tightly integrated with its omnidirectional, active sensing system. The robotic ribbon fin has eight individually actuated metal rays which are linked by a thin latex sheet. The experimental results demonstrate the effect of varying the frequency, amplitude and length of the traveling wave on the robotic fin’s thrust production. We found that thrust production peaks at particular combinations of these three variables and that th...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Michael Epstein, J. Edward Colgate, Malcolm A. MacIver
• Keywords: Black Ghost, IROS 2006, Ribbon Fin, Robotic Ribbon Fin, Robotics