Pleobot: a modular robotic solution for metachronal swimming

• Main Authors: Santos, Sara Oliveira, Tack, Nils, Su, Yunxing, Cuenca-Jimenez, Francisco, Morales-Lopez, Oscar, Gomez-Valdez, P. Antonio, Wilhelmus, Monica M
• Format: Journal Article
• Language: English
• Published: 01-03-2023
• Subjects: Physics - Biological Physics; Physics - Fluid Dynamics
• DOI: 10.48550/arxiv.2303.00805

Metachronal locomotion is a widespread swimming mode used by aquatic swarming
organisms to achieve performance and maneuverability in the intermediate
Reynolds number regime. Our understanding of the mechanisms driving these
abilities is limited due to the challenges of studying live organisms. Designs
inspired by nature present an approach for developing small and maneuverable
underwater self-propelled robots. Here, we present the design, manufacture, and
validation of the \emph{Pleobot} --a unique krill-inspired robotic swimming
appendage constituting the first platform to study metachronal propulsion
comprehensively. Our methods combine a multi-link 3D printed mechanism with
active and passive actuation of the joints to generate natural kinematics.
Using force and fluid flow measurements in parallel with biological data, we
show the link between the flow produced by the appendage and thrust. Further,
we provide the first account of a leading-edge suction effect that contributes
to lift during the power stroke. The repeatability and modularity of the
\emph{Pleobot} enable the independent manipulation of particular motions and
traits to test hypotheses central to understanding the relationship between
form and function. Lastly, we outline future directions for the \emph{Pleobot},
including adapting morphological features. We foresee a broad appeal to a wide
array of scientific disciplines, from fundamental studies in ecology, biology,
and engineering, to developing new platforms for studying oceans across the
solar system.