Bio-Inspired Compensatory Strategies for Damage to Flapping Robotic Propulsors

To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of thrust by altering stroke mechanics. However, direct transference of these alterations from an organism to a robotic flapping propulsor may not be optimal due to irrelevant evolutionary pressures. We instead seek to determine what alterations to stroke mechanics are optimal for a damaged robotic system …

autonomous autonomy bio bio-inspired cs.lg cs.ro example fish loss nature robotic strategies stroke surface systems via