Session: MR-04-01

Paper Number: 143664

143664 - An Underwater Gliding Robot Using an Origami-Inspired Buoyancy Regulator 

Buoyancy control can allow energy-efficient three-dimensional motion in underwater robots. Conventional buoyancy control techniques include ballast-based and pressurized air bladders which often create disturbance in the surrounding water and are noisy. This paper presents a noiseless and fixed mass buoyancy regulation approach using a swim bladder designed based on origami principles. The investigation focuses on the feasibility of buoyancy control using a soft origami structure, ensuring efficient actuation while reducing energy consumption. The origami-based swim bladder is compressed using a thread and pulley mechanism actuated by a servo motor while the stretching takes place when the tension in the thread is relieved. We also present the details of the selection of suitable materials with a focus on durability and compatibility with the origami design principles, guaranteeing the long-term functionality and reliability of the entire system against water seepage for shallow water applications. To prove the above-mentioned concept, this paper reports a depth-controlled underwater glider robot that can descend and ascend automatically. Experimental characterisation of buoyancy force generated by the origami mechanism has been performed which is used for controlling the robot.  We envisage that the developed approach can be used for imparting buoyancy regulation-based energy-efficient depth control capabilities to underwater robots that can reduce environmental impact.

Presenting Author: Pritam Ojha Indian Institute of Technology Patna

Presenting Author Biography: Atul Thakur is an Associate Professor in the Department of Mechanical Engineering at Indian Institute of Technology Patna. His research interest is broadly in the area of robotics and automation. He has been actively engaged in the research involving the design, motion planning, and control of bio-inspired robots, application of robotics in the area of solid waste management, and selective micromanipulation of biological cells using magnetic microrobots.
He received a Ph.D. degree in mechanical engineering from the University of Maryland, College Park, Master of Technology (M.Tech.) degree in manufacturing engineering from the Indian Institute of Technology Bombay, and Bachelor of Engineering (B.E.) degree in production engineering from the University of Mumbai. Atul is a recipient of the 2013 Best Dissertation Award from ASME-CIE Division. He received Elsevier Journal of Computer-Aided Design 2012 most cited paper award. He is also a member of the American Society of Mechanical Engineers (ASME) since 2009 and Institute of Electrical and Electronics Engineers (IEEE) since 2011.

Authors:

Pritam Ojha Indian Institute of Technology Patna
Shuchi Saxena Indian Institute of Technology Patna
Atul Thakur Indian Institute of Technology Patna