Bio-Inspiration in Underwater Robotics: A State-of-the-Art Review

Agus Budiyono, Ary Setijadi Prihatmanto, Bismo Jelantik Joyodiharjo

Abstract


Underwater robotics has witnessed significant advancements through the integration of bio-inspiration, leveraging nature's design principles to enhance the capabilities and performance of underwater robots. This paper presents a comprehensive state-of-the-art review of bio-inspiration in underwater robotics, exploring the diverse range of bio-inspired approaches and their applications in this field. The review begins by introducing the concept of bio-inspiration and its relevance to underwater robotics, highlighting the benefits of mimicking nature's solutions in terms of efficiency, adaptability, and maneuverability. Subsequently, it delves into different aspects of bio-inspired underwater robotics, covering propulsion systems, sensory systems, materials, and locomotion. In the realm of propulsion, various bio-inspired mechanisms, such as fish-like fins, undulating flexible tails, and oscillating foils, are examined. These propulsion systems draw inspiration from aquatic animals, allowing underwater robots to achieve efficient and agile movement through water. Additionally, the review explores the utilization of biomimetic sensory systems that mimic the perception capabilities of marine organisms, enabling underwater robots to navigate, detect objects, and gather environmental data with enhanced accuracy and efficiency. The paper also discusses the integration of bio-inspired materials in underwater robotics, including flexible and soft materials that enable robots to adapt to complex underwater environments, mimic the deformability of marine organisms, and optimize hydrodynamic performance. Furthermore, it examines bio-inspired locomotion strategies, such as cephalopod-inspired jet propulsion and bio-mimetic legged locomotion, which offer novel approaches for underwater robots to traverse challenging terrains and perform complex tasks. The review concludes with an analysis of current challenges and future directions in the field of bio-inspired underwater robotics. These include the development of novel biomimetic designs, the integration of advanced control algorithms, and the exploration of multi-robot systems inspired by collective behaviors observed in marine organisms. By highlighting the state-of-the-art advancements and potential applications, this comprehensive review serves as a valuable resource for researchers, engineers, and practitioners in the field of underwater robotics, fostering further exploration and innovation in the exciting realm of bio-inspiration.

Keywords


Biomimetic design, biomimetic sensing, biomimicry, marine robotics

References


Ahmed, Faheem, et al. "Multi-material bio-inspired soft octopus robot for underwater synchronous swimming." Journal of Bionic Engineering 19.5 (2022): 1229-1241.

Bang, K., Kim, J., Lee, S. I., et al. (2016). Hydrodynamic role of longitudinal dorsal ridges in a leatherback turtle swimming. Scientific Reports, 6, 34283.

Budiyono, Agus, Muljowidodo Kartidjo, and Agus Sugama. "Coefficient diagram method for the control of an unmanned underwater vehicle." Indian Journal of Marine Sciences 38.3 (2009): 316-323.

Budiyono, Agus. "Advances in unmanned underwater vehicles technologies: Modeling, control and guidance perspectives." Indian Journal of Marine Sciences 38.3 (2009): 282-295.

Budiyono, Agus. "Model predictive control for autonomous underwater vehicle." Indian Journal of Geo-Marine Sciences 40.2 (2011): 191-199.

Chemori, A., Kuusmik, K., Salumae, T., et al. (Year). Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions. In Proceedings of the of the 2016 IEEE international conference on robotics and automation (ICRA), Stockholm, 16–21 May 2016, pp.4750–4755. New York: IEEE.

Chen, Baozhi, et al. ‘Bio-Inspired Communications for Coordination among Autonomous Underwater Vehicles’. 2010 IEEE Sarnoff Symposium, IEEE, 2010, pp. 1–6.

Costa, D., Palmieri, G., Palpacelli, M. C., et al. (2018). Design of a bio-inspired autonomous underwater robot. Journal of Intelligent & Robotic Systems, 91(2), 181–192.

Costa, Daniele, Giacomo Palmieri, Matteo-Claudio Palpacelli, Luca Panebianco, et al. ‘Design of a Bio-Inspired Autonomous Underwater Robot’. Journal of Intelligent & Robotic Systems, vol. 91, Springer, 2018, pp. 181–192.

Costa, Daniele, Giacomo Palmieri, Matteo-Claudio Palpacelli, Massimo Callegari, et al. ‘Design of a Bio-Inspired Underwater Vehicle’. 2016 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), IEEE, 2016, pp. 1–6.

Dabiri, John O. "Jellyfish-inspired propulsion." Integrative and Comparative Biology 51.S1 (2011): E29-E29.

Fish, Frank E. ‘Bio-Inspired Aquatic Drones: Overview’. Bioinspiration & Biomimetics, no. 6, IOP Publishing, 2020, p. 060401.

Gorma, Wael, et al. ‘Development of Modular Bio-Inspired Autonomous Underwater Vehicle for Close Subsea Asset Inspection’. Applied Sciences, vol. 11, no. 12, MDPI, 2021, p. 5401.

Guerrero-González, Antonio, et al. ‘A Multirobot Platform Based on Autonomous Surface and Underwater Vehicles with Bio-Inspired Neurocontrollers for Long-Term Oil Spills Monitoring’. Autonomous Robots, vol. 40, Springer, 2016, pp. 1321–1342.

Guglielmino, Emanuele, et al. "A pragmatic bio-inspired approach to the design of octopus-inspired arms." 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013.

Janardhanan, S., et al. "Towards the development of a bio-inspired shark-shaped unmanned underwater vehicle." Sustainable Development and Innovations in Marine Technologies. CRC Press, 2019. 240-246.

Kadiyam, J., & Mohan, S. (2019). Conceptual design of a hybrid propulsion underwater robotic vehicle with different propulsion systems for ocean observations. Ocean Engineering, 182, 112–125.

Kaliappan, Vishnu Kumar, Agus Budiyono, Dugki Min, and K. Muljowidodo. "Hardware-In-the-loop simulation platform for the design, testing and validation of autonomous control system for unmanned underwater vehicle." (2012).

Katzschmann, R. K., DelPreto, J., MacCurdy, R., et al. (2018). Exploration of underwater life with an acoustically controlled soft robotic fish. Science Robotics, 3(16), eaar3449.

Kim, Kendra, and Sangram Redkar. "Control System for Bio-inspired Cuttlefish Fin Locomotion for an Autonomous Underwater Vehicle." INTERNATIONAL JOURNAL OF MODERN ENGINEERING: 5.

Lauder, G. V., & Drucker, E. G. (2004). Morphology and experimental hydrodynamics of fish fin control surfaces. IEEE Journal of Ocean Engineering, 29(3), 556–571.

Lauder, G. V., & Madden, P. G. (2006). Learning from fish: kinematics and experimental hydrodynamics for roboticists. International Journal of Automation and Computing, 3(4), 325–335.

Li, Hong, et al. ‘Bio-Inspired Geomagnetic Navigation Method for Autonomous Underwater Vehicle’. Journal of Systems Engineering and Electronics, vol. 28, no. 6, BIAI, 2017, pp. 1203–1209.

Liu, Mingyong, et al. ‘Bio-Inspired Navigation Based on Geomagnetic for the Autonomous Underwater Vehicle’. OCEANS 2014-TAIPEI, IEEE, 2014, pp. 1–5.

Mitra, Santanu, et al. "Design and Control Strategy of Bio-inspired Underwater Vehicle with Flexible Propulsor." Journal of Modern Mechanical Engineering and Technology 8 (2021): 57-65.

Muljowidodo, K., Mochammad A. Rasyid, N. SaptoAdi, and Agus Budiyono. "Vision based distance measurement system using single laser pointer design for underwater vehicle." Indian Journal of Marine Sciences 38.3 (2009): 324-331.

Muljowidodo, K., N. Adi, Nico Prayogo, and Agus Budiyono. "Design and testing of underwater thruster for SHRIMP ROV-ITB." Indian Journal of Marine Sciences 38.3 (2009): 338-345.

Najem, Joseph, and Donald J. Leo. "A bio-inspired bell kinematics design of a jellyfish robot using ionic polymer metal composites actuators." Electroactive Polymer Actuators and Devices (EAPAD) 2012. Vol. 8340. SPIE, 2012.

Narayanan, A., et al. ‘Survey of the Emerging Bio-Inspired Unmanned Aerial Underwater Vehicles’. IOP Conference Series: Materials Science and Engineering, vol. 810, IOP Publishing, 2020, p. 012078.

Panda, Jyoti Prakash, et al. ‘A Review on the Hydrodynamic Characteristics of Autonomous Underwater Vehicles’. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, vol. 235, no. 1, SAGE Publications Sage UK: London, England, 2021, pp. 15–29.

Park, Yong-Jai, and Kyu-Jin Cho. "Design and manufacturing a bio-inspired variable stiffness mechanism in a robotic dolphin." Intelligent Robotics and Applications: 6th International Conference, ICIRA 2013, Busan, South Korea, September 25-28, 2013, Proceedings, Part II 6. Springer Berlin Heidelberg, 2013.

Pieterkosky, Simeon, et al. ‘Biv Meets Asv: Bio-Inspired Fish Drones and Autonomous Surface Vehicles for Coral Reef Monitoring’. OCEANS 2017-Anchorage, IEEE, 2017, pp. 1–5.

Plum, Fabian, et al. ‘SAUV—A Bio-Inspired Soft-Robotic Autonomous Underwater Vehicle’. Frontiers in Neurorobotics, vol. 14, Frontiers Media SA, 2020, p. 8.

Rivera, G. (2009). Hydrodynamics of freshwater turtles: maneuverability, stability, and effects of shell shape. Retrieved from https://tigerprints.clemson.edu/cgi/viewcontent.cgi?article=1480&context=all_dissertations

Shaari, Muhammad Farid, et al. "Conceptual design and preliminary analysis on bio-inspired squid micro AUV." 2013 IEEE International Conference on Mechatronics and Automation. IEEE, 2013.

Singh, S. N., Simha, A., & Mittal, R. (2004). Biorobotic AUV maneuvering by pectoral fins: inverse control design based on CFD parameterization. IEEE Journal of Ocean Engineering, 29(3), 777–785.

Sitorus, Patar Ebenezer, et al. "Design and implementation of paired pectoral fins locomotion of labriform fish applied to a fish robot." Journal of Bionic Engineering 6.1 (2009): 37-45.

Sun, Aolin, Xiang Cao, Xu Xiao, et al. ‘A Fuzzy-Based Bio-Inspired Neural Network Approach for Target Search by Multiple Autonomous Underwater Vehicles in Underwater Environments’. Intelligent Automation & Soft Computing, vol. 27, no. 2, 2021.

Sun, Bing, Daqi Zhu, and Simon X. Yang. ‘A Bio-Inspired Cascaded Approach for Three-Dimensional Tracking Control of Unmanned Underwater Vehicles’. International Journal of Robotics and Automation, vol. 29, no. 4, 2014, pp. 349–358.

Sun, Bing, Daqi Zhu, Chen Tian, et al. ‘Complete Coverage Autonomous Underwater Vehicles Path Planning Based on Glasius Bio-Inspired Neural Network Algorithm for Discrete and Centralized Programming’. IEEE Transactions on Cognitive and Developmental Systems, vol. 11, no. 1, IEEE, 2018, pp. 73–84.

Sun, Bing, Daqi Zhu, Feng Ding, et al. ‘A Novel Tracking Control Approach for Unmanned Underwater Vehicles Based on Bio-Inspired Neurodynamics’. Journal of Marine Science and Technology, vol. 18, Springer, 2013, pp. 63–74.

Sutarto, Herman, and Agus Budiyono. "Development of linear parameter varying control system for autonomous underwater vehicle." Indian Journal of Marine Sciences 40.2 (2011): 275-286.

Sverdrup-Thygeson, Jørgen, et al. "A control framework for biologically inspired underwater swimming manipulators equipped with thrusters." IFAC-PapersOnLine 49.23 (2016): 89-96.

Sverdrup-Thygeson, J., Kelasidi, E., Pettersen, K. Y., et al. (2016). The underwater swimming manipulator – a bio-inspired AUV. In Proceedings of the 2016 IEEE/OES Autonomous Underwater Vehicles (AUV) (pp. 387–395). New York: IEEE.

Sverdrup-Thygeson, Jørgen, et al. "The underwater swimming manipulator—A bioinspired solution for subsea operations." IEEE Journal of Oceanic Engineering 43.2 (2017): 402-417.

Tijani, Ismaila B., and Agus Budiyono. "Control of an Unmmaned Underwater Vehicles using an Optimized LQR Method." Marine and Underwater Science and Technology, ISIUS 1.1 (2016): 41-48.

Tijani, Ismaila, and Agus Budiyono. "Robust control of an unmanned underwater vehicle with parametric uncertainty." J Instrum Autom Syst 2 (2016): 72-80.

Um, Tae I., et al. ‘A Novel Electroactive Polymer Buoyancy Control Device for Bio-Inspired Underwater Vehicles’. 2011 IEEE International Conference on Robotics and Automation, IEEE, 2011, pp. 172–177.

Villanueva, Alex, et al. "Jellyfish inspired unmanned underwater vehicle." Electroactive Polymer Actuators and Devices (EAPAD) 2009. Vol. 7287. SPIE, 2009.

Wang, Xinyu, et al. "Bio-Inspired Coral-like Sensor Aiming at Ocean Wave Monitoring." 2021 China Automation Congress (CAC). IEEE, 2021.

Willy, A., & Low, K. (2005). Development and initial experiment of modular undulating fin for untethered biorobotic AUVs. In Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 45–50). New York: IEEE.

Wu, Qiuxuan, et al. "A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus." Bioinspiration & Biomimetics 16.4 (2021): 046007.

X. Gu, Grace, et al. "Three-dimensional-printing of bio-inspired composites." Journal of biomechanical engineering 138.2 (2016): 021006.

Park, Yong-Jai, and Kyu-Jin Cho. "Design and manufacturing a bio-inspired variable stiffness mechanism in a robotic dolphin." Intelligent Robotics and Applications: 6th International Conference, ICIRA 2013, Busan, South Korea, September 25-28, 2013, Proceedings, Part II 6. Springer Berlin Heidelberg, 2013.

Zhu, Daqi, and Bing Sun. ‘The Bio-Inspired Model Based Hybrid Sliding-Mode Tracking Control for Unmanned Underwater Vehicles’. Engineering Applications of Artificial Intelligence, vol. 26, no. 10, Elsevier, 2013, pp. 2260–2269.

Zou, Jianmin, et al. ‘Bio-Inspired Topology Control Mechanism for Autonomous Underwater Vehicles Used in Maritime Surveillance’. 2013 IEEE International Conference on Technologies for Homeland Security (HST), IEEE, 2013, pp. 201–206.


Refbacks

  • There are currently no refbacks.




Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.