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Experimental Investigation of the Optimal Position of Underwater Snake Robots for Energy Harvesting
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DOI：10.1109/joe.2026.3697338.png)
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Abstract
En 中文
In this article, we present an experimental study, as well as a high-fidelity simulation study, in which we investigate the feasibility of utilizing vortex shedding phenomena for energy harvesting using underwater snake robots (USRs). The motivation for the study comes from the idea of infrastructure-free charging of such USRs for long-term missions without crewed intervention. The experimental study is performed with a passive scale model, where the power dissipated in the damped joints is used as a proxy measurement for the energy harvesting potential. The simulation study is performed using a high-fidelity fluid-structure interaction simulator. The magnitude of the dissipated power indicates a promising starting point for applications, such as long-term deployment. Furthermore, trends in the experimental data indicate that further optimization with respect to damping and distance may yield increases in the dissipated power.
Keywords:
Autonomous underwater vehicles (AUVs)
biologically-inspired robots
energy harvesting
marine cybernetics
ocean current energy
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