• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.119-123
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• 2006

The ionic-polymer-metal-composite actuators have the best merit for bio-mimetic locomotion because of their large bending performance. Especially, they have the advantage for mimicking a fish-like motion because IPMCs are useful to be actuated in water. So we have developed IPMC actuators with multiple electrodes for realization of biomimetic motion. Generally, the IPMC actuator has been fabricated in electroless plating technique, while it needs very long fabrication time and shows poor repeatability in the actuation performance owing to the variables in chemical fabrication process. Therefore, the novel fabrication methods were investigated by combining electroless plating and electroplating techniques capable of patterning precisely. On the whole, two different methods were compared and analyzed with similar thickness level of Platinum electrodes. Present results show that mixing chemical reduction and electroplating can be a promising candidate for electrode patterning.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.59-67
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• 2009

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.189-192
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• 2002

This paper has been studied the movement of snake robot. In this paper we developed a simulator to simulate the creeping locomotion of a snake robot. This Robot makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Using the nonslip condition of the wheels, the robot gains propulsion by means of constrained forces on the wheels caused by bending the joints. The results of simulations show that smooth lateral undulatory motion is achived.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.197-208
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• 2010

The ostraciiform swimming mode allows the simplest mechanical design and control for underwater vehicle swimming. Propulsion is achieved via the flapping of caudal fin without the body undulatory motion. In this research, the propulsion of underwater vehicles by ostraciiform swimming mode is explored experimentally using an ostraciiform fish robot and some rigid caudal fins. The effects of caudal fin flapping frequency and amplitude on the cruising performance are studied in particular. A theoretical model of propulsion using rigid caudal fin is proposed and identified with the experimental data. An experimental method to obtain the drag coefficient and the added mass of the fish robot is also proposed.

• Bulletin of the Society of Naval Architects of Korea
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• v.18 no.3
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• pp.11-27
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• 1981

This paper is prepared to solve the problem of two-dimensional sinusoidal motion of hydrofoil, which can be related not only to the prediction of unsteady forces acting on the marine propeller blade but to the study of aquatic animal's undulatory mode of propulsion. For convenience's shake, this manuscript can be devided into two parts. In the first part, the lift and moment coefficients have been calculated by the method of conformal transformation. In the other part, the thrust and the hydromechanical efficiency have been evaluated, using Lagally's technique having extended to the unsteady case, they also have been compared with the results, which had been obtained by Lighthill[6] and Wu[7] using Prandtl's acceleration potential.

• Bulletin of the Society of Naval Architects of Korea
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• v.20 no.3
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• pp.1-16
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• 1983

In this paper a discrete-vortex-method(DVM) is presented for investigating the hydromechanics of the planar hydrofoils performing the undulatory motion which can be related to fish propulsion with carangiform mode. This is an extention of the authors previous work(1981) on the 2-dimensional hydrofoil. The applicability and accuracy of the present method are shown by means of comparing the calculated lifts and moments, and their distributions over the planforms with those in available references, for aspect ratio 1.0 and 2.0 rectangular hydrofoils and a swept-back hydrofoil of aspect ratio 2.0 from reduced frequency 0.1 to 0.5. The agreement is considered good. To assure the applicability of the DVM to the study of the propulsive performance of the oscillating planar hydrofoils, the convergence tests are performed. The mean thrust(in pure heave, this is wholly due to leading-edge suction), the mean power to maintain the motion and the hydromechanical efficiency are calculated for the rectangular hydrofoil of aspect ratio 8.0 and these are compared with the calculations by Chopra & Kambe(1977) and Lan(1979) for the same cases.

• Journal of the Korean Society of Visualization
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• v.12 no.2
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• pp.18-22
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• 2014

Caenorhabditis elegans (C. elegans) is an undulatory nematode which exhibits two distinct locomotion types of swimming and crawling. Although in its natural habitat C. elegans lives in a non-Newtonian fluidic environment, our current understanding has been limited to the behavior of C. elegans in a simple Newtonian fluid. Here, we present some experimental results on the penetrating behavior of C. elegans at the interface from liquid to solid environment. Once C. elegans, which otherwise swims freely in a liquid, makes a contact to the solid gel boundary, it begins to penetrate vertically to the surface by changing its stroke motion characterized by a stiffer body shape and a slow stroke frequency. The particle image velocimetry (PIV) analysis reveals the flow streamlines produced by the stroke of worm. For the worm that crawls on a solid surface, we utilize a technique of traction force microscopy (TFM) to find that the crawling nematode forms localized force islands along the body where makes direct contacts to the gel surface.