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Four flippers or two? Tetrapodal swimming with an aquatic robot.
Bioinspir Biomim
March 2006
Department of Biology, Program in Cognitive Science, and the Interdisciplinary Robotics Research Laboratory, Vassar College, Poughkeepsie, NY 12604, USA.
To understand how to modulate the behavior of underwater swimmers propelled by multiple appendages, we conducted surge maneuver experiments on our biologically-inspired robot, Madeleine. Robot Madeleine is a self-contained, self-propelled underwater vehicle with onboard processor, sensors and power supply. Madeleine's four flippers, oscillating in pitch, can be independently controlled, allowing us to test the impact of flipper phase on performance.
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