AquaPenguin

Year

2009

The idea

A group of artificial penguins moves autonomously and collision-free through the water.

The objective

The AquaPenguins can interact and develop flexible group behaviour patterns.

Technical data

• Length: 77 cm
• Dry chamber length: 42 cm
• Torso diameter: 19 cm
• Wingspan: 66 cm
• Weight: 9.6 kg
• Torso: laminated, glass fibre-reinforced plastic
• Head and tail segments: 3D Fin Ray structure
• Wings: spring steel wire, silicone, polyamide
• Skin: polyamide with elastane
• Main drive: electric
• Gearbox: 43:1 planetary
• Power supply: lithium-polymer battery, 11.1 V, 15 Ah
• Speed: max. 5 km/h

Motion

The cautiously interacting AquaPenguins can remain mobile for seven hours. They can perform turning manoeuvres, swim backwards and communicate by ultrasound. Thanks to intelligent sensors and on-board electronics, they demonstrate autonomy by interacting with each other and develop flexible behaviour patterns within the group.

Structure

The hull of these flow-optimised swimming robots has a three-dimensional Fin Ray structure. Flexible longitudinal spars enclosed by radial connecting elements extend under the skin from the nose, through the head and neck, to the tail segment. The spars are horizontally and vertically controlled by two servo motors by means of mechanically coupled traction cables.

Ultrasound

To move safely and autonomously, the AquaPenguins scan and analyse their surroundings. They can determine their exact position by means of a three-dimensional SONAR (sound navigation and ranging) system. Each robot constantly measures its distance to the sides of the water tank and registers its colleagues that are swimming past. This information is supplemented by data from a separate pressure sensor that supports depth navigation.

Material

AquaPenguin