3 papers
cs.RO2025
Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer
Conor K. Trygstad, Cody R. Longwell, Francisco M. F. R. Gonçalves +2
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven…
cs.RO2024
Power-Efficient Actuation for Insect-Scale Autonomous Underwater Vehicles
Cody R. Longwell, Conor K. Trygstad, Nestor O. Perez-Arancibia
We present a new evolution of the Very Little Eel-Inspired roBot, the VLEIBot++, a 900-mg swimmer driven by two 10-mg bare high-work density (HWD) actuators, whose functionality is…
cs.RO2024
Progress Towards Submersible Microrobots: A Novel 13-mg Low-Power SMA-Based Actuator for Underwater Propulsion
Cody R. Longwell, Conor K. Trygstad, Francisco M. F. R. Goncalves +2
We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creat…