Godfried Jansen Van Vuuren
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Godfried Jansen Van Vuuren has a total of 6 co-authors. Here are the top co-authors by number of shared publications:
- Cesare Stefanini
Mohamed bin Zayed University of Artificial Intelligence
1 shared publication - Donato Romano
The Biorobotics Institute, Sant’Anna School of Advanced Studies, Pisa, Italy
1 shared publication - Gaspare Santaera
The BioRobotics Institute, Scuola Superiore SantAnna, Pontedera, Italy
1 shared publication - Gianluca Manduca
The Biorobotics Institute, Sant’Anna School of Advanced Studies, Pisa, Italy
1 shared publication - Marco Miraglia
The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera (PI), Italy
1 shared publication - Paolo Dario
The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy
1 shared publication
Latest Publications
- Open Access
- 6 May 2024
- Published by Springer Nature in Journal of Intelligent & Robotic Systems
- Vol. 110 (2) , 1-17
A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish
Bioinspired underwater robots can move efficiently, with agility, even in complex aquatic areas, reducing marine ecosystem disturbance during exploration and inspection. These robots can improve animal farming conditions and preserve wildlife. This study proposes a muscle-like control for an underactuated robot in carangiform swimming mode. The artifact exploits a single DC motor with a non-blocking transmission system to convert the motor’s oscillatory motion into the fishtail’s oscillation. The transmission system combines a magnetic coupling and a wire-driven mechanism. The control strategy was inspired by central pattern generators (CPGs) to control the torque exerted on the fishtail. It integrates proprioceptive sensory feedback to investigate the adaptability to different contexts. A parametrized control law relates the reference target to the fishtail’s angular position. Several tests were carried out to validate the control strategy. The proprioceptive feedback revealed that the controller can adapt to different environments and tail structure changes. The control law parameters variation accesses the robotic fish’s multi-modal swimming. Our solution can vary the swimming speed of 0.08 body lengths per second (BL/s), and change the steering direction and performance by an angular speed and turning curvature radius of 0.08 rad/s and 0.25 m, respectively. Performance can be improved with design changes, while still maintaining the developed control strategy. This approach ensures the robot’s maneuverability despite its underactuated structure. Energy consumption was evaluated under the robotic platform’s control and design. Our bioinspired control system offers an effective, reliable, and sustainable solution for exploring and monitoring aquatic environments, while minimizing human risks and preserving the ecosystem. Additionally, it creates new and innovative opportunities for interacting with marine species. Our findings demonstrate the potential of bioinspired technologies to advance the field of marine science and conservation.
- 6 May 2024
- Published by Springer Nature in Journal of Intelligent & Robotic Systems
- Vol. 110 (2) , 1-17
Open AccessA Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish
Bioinspired underwater robots can move efficiently, with agility, even in complex aquatic areas, reducing marine ecosystem disturbance during exploration and inspection. These robots can improve animal farming conditions and preserve wildlife. This study proposes a muscle-like control for an underactuated robot in carangiform swimming mode. The artifact exploits a single DC motor with a non-blocking transmission system to convert the motor’s oscillatory motion into the fishtail’s oscillation. The transmission system combines a magnetic coupling and a wire-driven mechanism. The control strategy was inspired by central pattern generators (CPGs) to control the torque exerted on the fishtail. It integrates proprioceptive sensory feedback to investigate the adaptability to different contexts. A parametrized control law relates the reference target to the fishtail’s angular position. Several tests were carried out to validate the control strategy. The proprioceptive feedback revealed that the controller can adapt to different environments and tail structure changes. The control law parameters variation accesses the robotic fish’s multi-modal swimming. Our solution can vary the swimming speed of 0.08 body lengths per second (BL/s), and change the steering direction and performance by an angular speed and turning curvature radius of 0.08 rad/s and 0.25 m, respectively. Performance can be improved with design changes, while still maintaining the developed control strategy. This approach ensures the robot’s maneuverability despite its underactuated structure. Energy consumption was evaluated under the robotic platform’s control and design. Our bioinspired control system offers an effective, reliable, and sustainable solution for exploring and monitoring aquatic environments, while minimizing human risks and preserving the ecosystem. Additionally, it creates new and innovative opportunities for interacting with marine species. Our findings demonstrate the potential of bioinspired technologies to advance the field of marine science and conservation.