The team then created a computer simulation that showed that when these "inward counterpropagating waves" are generated by the fin, horizontal thrust is canceled and the fluid motion generated by the two waves is funneled into a downward jet from the center of the fin, pushing the body up. The flow structure looks like a mushroom cloud with an inverted jet.
"It's interesting because you're getting force coming off the animal in a completely unexpected direction that allows it to do acrobatics that, given its lifestyle of hunting and maneuvering among tree roots, makes a huge amount of sense," MacIver said.
The group then hired Kinea Design, a design firm founded by Northwestern faculty that specializes in human interactive mechatronics, and worked closely with its co-founder, Michael Peshkin, professor of mechanical engineering, to design and build a robot. The company fashioned a forearm-length waterproof robot with 32 motors giving independent control of the 32 artificial fin rays of the lycra-covered artificial fin. (That means the robot has 32 degrees of freedom. In comparison, industrial robot arms typically have less than 10.) Seven months and $200,000 later, the GhostBot came to life.
The group took the robot to Harvard University to test it in a flow tunnel in the lab of George V. Lauder, professor of ichthyology and co-author of the paper. The team measured the flow around the robotic fish by placing reflective particles in the water, then shining a laser sheet into the water. That allowed them to track the flow of the water by watching the particles, and the test showed the water flowing around the biomimetic robot just as computer simulations predicted it would.
"It worked perfectly the first time," MacIver said. "We high-fived. We had the robot i
|Contact: Megan Fellman|