{"id":336,"date":"2024-09-10T15:49:49","date_gmt":"2024-09-10T15:49:49","guid":{"rendered":"https:\/\/blogs.oregonstate.edu\/marineautonomy\/?page_id=336"},"modified":"2024-12-05T19:59:24","modified_gmt":"2024-12-05T19:59:24","slug":"underwater-locomotion-and-distributed-coordination","status":"publish","type":"page","link":"https:\/\/blogs.oregonstate.edu\/marineautonomy\/underwater-locomotion-and-distributed-coordination\/","title":{"rendered":"Underwater Locomotion and Distributed Coordination"},"content":{"rendered":"\n

Sponsor: Office of Naval Research
Project Lead: Geoff Hollinger (OSU)
Project Partners: Oregon State University, University of Oregon, University of Washington
Project Dates: February 2023-January 2027
Award Number: N00014-23-1-2171<\/p>\n\n\n\n

This bio-inspired project focuses on developing locomotion and coordination methods for deploying soft, reconfigurable robots inspired by salps, a type of marine organism. These barrel-shaped, gelatinous animals move by jet propulsion and link up in long chains. The project team envisions a system of multiple heterogeneous soft robots, manufactured using state-of-the-art polymers, which could be deployed for underwater monitoring and inspection tasks. Research areas include robotic locomotion, fabrication and control, and communication within robot teams.<\/p>\n\n\n\n

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(Top) A chain of salps, W. Cylindrica<\/em>, with their asynchronous jets highlighted by bright green fluorescent dye (Photo courtesy of Dr. Kelly Sutherland\/University of Oregon). (Bottom) The project’s salp-inspired origami jetter in mineral oil, with its pulsed jet highlighted with dye (Note that the dye is heavier than the oil, so only half the vortex ring is visible). (Image credit: Ali Jones and Joe Davidson, Oregon State University)<\/figcaption><\/figure>\n\n\n\n

Publications & Presentations<\/h2>\n\n\n\n

2025<\/h3>\n\n\n\n

J. Choi, A. Cabrera, and R. L. Hatton, \u201cGeometric Optimal Control of Mechanical Systems with Gravitational and Resistive Force,\u201d submitted to the 2025 IEEE Int\u2019l Conference on Robotics and Automation (ICRA)<\/em>, under review, available at: https:\/\/www.arxiv.org\/abs\/2410.09657<\/a><\/p>\n\n\n\n

Y. Yang, R. L. Hatton, \u201cGeometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers\u201d, submitted to the 2025 IEEE Int\u2019l Conference on Robotics and Automation (ICRA)<\/em>, under review, available at: https:\/\/arxiv.org\/abs\/2409.15220<\/a> <\/p>\n\n\n\n

P. Rustagi and S.Saisubramanian, \u201cMitigating Side Effects in Multi-Agent Systems Using Blame Assignment\u201d, submitted to submitted to the 2025 IEEE Int\u2019l Conference on Robotics and Automation (ICRA)<\/em>, under review, available at: https:\/\/arxiv.org\/pdf\/2405.04702<\/a><\/p>\n\n\n\n

2024<\/h3>\n\n\n\n

J. Choi and R. L. Hatton, \u201cOptimal Control Approach for Gait Transition with Riemannian Splines<\/a>,\u201d to appear in 63rd IEEE Conference on Decision and Control<\/em> (CDC), Dec. 2024.\u00a0<\/p>\n\n\n\n

A. Damian-Serrano, K.R. Sutherland,\u00a0A developmental ontology for the colonial architecture of salps<\/a>. Biological Bulletin<\/em>. 2024.<\/p>\n\n\n\n

N. L. Hecht, \u201cDevelopment and Gait Optimization of a Scalable Salp-Like Robot with Passive Joints and Active Link Side Thrust Vectors<\/a>,\u201d MS Thesis (Robotics), Oregon State University, June 2024.\u00a0<\/p>\n\n\n\n

N. L. Hecht, Y. Yang, F. Rozaidi, and R. L. Hatton, \u201cDesign of a Planar, Salp-Like Robot<\/a>,\u201d in 2024 IEEE Int\u2019l Conference on Robotics and Automation (ICRA) Workshop on Unconventional Robots: Universal Lessons for Designing Unique Systems<\/em>.<\/p>\n\n\n\n

A. Jones, \u201cJet \u2018Salps\u2019: The creation and characterization of biomimetic, soft-robotic jet propulsors<\/a>,\u201d MS Thesis (Robotics), Oregon State University, June 2024.<\/p>\n\n\n\n

A. Jones and J.R. Davidson, \u201cUnderwater salp-inspired soft structure contraction with twisted coiled actuators<\/a>,\u201d In Proc. 7th IEEE-RAS Int\u2019l Conf. on Soft Robots (RoboSoft)<\/em>, San Diego, CA, Apr. 2024, pp. 504-510.<\/p>\n\n\n\n

K.A. Morgansen, University of Pennsylvania GRASP Lab, \u201cIntegrated Sensing and Actuation for Robust Flight Systems,\u201d Invited Seminar. April 2024.<\/p>\n\n\n\n

E. Sundquist, C. Whitehair, and K. A. Morgansen, \u201cNonlinear multi-sensor observability and estimation of rigid body inertial parameters<\/a>,\u201d in AIAA SciTech Forum<\/em>, 2024.<\/p>\n\n\n\n

K.R. Sutherland, A. Damian-Serrano, K.T. Du Clos, B.J. Gemmell, S.P. Colin, J.H. Costello, \u201cSpinning and corkscrewing of oceanic macroplankton revealed through in situ imaging<\/a>\u201d Science Advances. 10(20), p.eadm9511. 2024.<\/p>\n\n\n\n

2023<\/h3>\n\n\n\n

A. Damian-Serrano, M. Hughes, K. R. Sutherland, \u201cA New Molecular Phylogeny of Salps (Tunicata: Thalicea: Salpida) and the Evolutionary History of Their Colonial Architecture<\/a>,\u201d Integrative Organismal Biology<\/em>, Volume 5, Issue 1, 2023.<\/p>\n\n\n\n

<\/p>\n\n\n\n

Return to projects page<\/a>…<\/p>\n","protected":false},"excerpt":{"rendered":"

Sponsor: Office of Naval ResearchProject Lead: Geoff Hollinger (OSU)Project Partners: Oregon State University, University of Oregon, University of WashingtonProject Dates: February 2023-January 2027Award Number: N00014-23-1-2171 This bio-inspired project focuses on developing locomotion and coordination methods for deploying soft, reconfigurable robots inspired by salps, a type of marine organism. These barrel-shaped, gelatinous animals move by jet … <\/p>\n

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