The Fifth International Symposium on Swarm Behavior and Bio-Inspired Robotics 2022 (SWARM 5th 2022)
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Penguins are wing-propelled diving birds who are capable of high-speed foraging, agile maneuver, and deep diving by the flapping wings. Considering their compact size as well as the swimming ability, penguins are promising models for mobile biomimetic underwater robots. The biomechanics and hydrodynamics studies of penguin swimming, however, are sparse to date, remaining the details of the propulsion mechanism unclear. Here, our research group conducted the first 3-D motion analysis of flapping-wing swimming of penguins at an aquarium. Based on the results, an electric 3-DoF penguin-mimetic wing mechanism was designed and created. ‘Flapping’ produces hydrodynamic force, while ‘feathering’ adjusts angle of attack and force magnitude. ‘Pitching’ of the flapping axis largely changes the direction of the force. The performance of the wing mechanism was evaluated by a water tunnel experiments. The above biomimetic robot can contribute to both robotics and biological studies in swimming penguins.
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