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Development of Soft Sailing Robot for Aerial-Aquatic Locomotion
To adapt to the ever changing environment of multiple mediums such as air and water, multi-functionality and multi-environment adaptability are desired skills for exploration and environmental monitoring robots [1]. Unpredictable currents, turbulent winds, and various obstacles such as drift ice, marine debris, and dynamic aerial and underwater life forms, amplify the complexity of operating in such uncertain environments. With the eventual goal of off-shore coral reef health monitoring, post-disaster assistance, and/or arctic sea sampling, the key question studied in this work is: How do we develop a morphologically adaptive sailboat that can deal with errant wind and water conditions, self-right itself when toppled over, and morph its wings ("main sail") to improve sailing performance.
In this work, we will look at different features of the system, such as: (1) The design of a multi-chambered soft metamorphic sailboat for orientation control. (2) The stiffness modulation and shape-changing nature of the sailboat towards self-righting the system. (3) The exploration of proprioceptive sensing of the sailboat structure.
The objective of this project is to explore transferrable metamorphosis methods for independent stiffness and shape control of an aerial robot’s wings and body that can be utilized as sails and rudders.
The objective of this project is to explore transferrable metamorphosis methods for independent stiffness and shape control of an aerial robot’s wings and body that can be utilized as sails and rudders.
The goal of this project is to design, manufacture, and evaluate a morphing/reconfigurable sailboat that can control it's body (hull) and wings (sails and rudder).
The goal of this project is to design, manufacture, and evaluate a morphing/reconfigurable sailboat that can control it's body (hull) and wings (sails and rudder).
Please contact Dr. Pham Huy Nguyen (huy.pham@empa.ch)
Please contact Dr. Pham Huy Nguyen (huy.pham@empa.ch)
Development of Soft Sailing Robot for Aerial-Aquatic Locomotion.pdf
