Miniature underwater robotic fish for animal-robot interactions

Paul Phamduy, Miguel Vazquez, Alessandro Rizzo, Maurizio Porfiri

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Research in animal behavior has benefited from the availability of robots able to elicit controllable, customizable, and versatile stimuli in behavioral studies. For example, biologically-inspired robotic fish can be designed to mimic the morphophysiology of predators and conspecifics to study fear response and sociality. However, size is a critical limitation of the existing arrays of robotic fish. Here, we present the design of a miniature robotic fish for future animal-robot interaction studies featuring a novel application of multi-material three-dimensional (3D) printing and utilizing a solenoid for actuation. The use of multi-material printing enables a skeletal design of only two parts, while retaining the complete functionality of larger prototypes enclosing requisite electronics and incorporating an active joint for propulsion. Parametric tests are conducted to test the swimming speed of the robotic fish and a compact dynamic model with two degrees of freedom to elucidate swimming of the robotic fish is presented.

Original languageEnglish (US)
Title of host publicationMechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791850701
StatePublished - 2016
EventASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States
Duration: Oct 12 2016Oct 14 2016

Publication series

NameASME 2016 Dynamic Systems and Control Conference, DSCC 2016


OtherASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering


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