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Design of Novel Cable-driven Continuum Robot for Fish Gait Emulation Using Kinetostatic Modelling Approach

Ashish Bhalkikar, K.P. Ashwin, Ganesh M. Bapat
May 21, 2026
Published Date

Research Abstract & Technology Focus

Abstract The design of robotic fish is an active area of research due to their significant potential in unique underwater applications. Recent developments have suggested using flexible fish bodies for improved locomotion efficiency. The cable-driven continuum mechanism is one of the promising techniques that can be explored in this regard due to its inherent compliance. In this research, we have demonstrated that Cable-driven Continuum robots (CCRs) with actively controlled radial cable offsets can be used to emulate different types of Body and/or Caudal Fin (BCF) fish gaits. This capability to generate multiple fish gaits is enabled by our two main contributions: a novel kinetostatic model for CCRs with non constant radial cable offsets, and a novel robot design controlled by only two cables using an active cable routing mechanism. First, an accurate forward kinetostatic model of the CCR with varying radial cable offsets was developed. The model is shown to predict the deformed profile of a 420 mm long robot prototype with high accuracy. An inverse kine tostatic model was developed that can estimate the necessary routing characteristics of a CCR, given the required final profile of the robot. Finally, a novel robot of length 500 mm that can actively control the cable routing was designed and prototyped. Using the developed kinetostatic models, the robot is shown to emulate five BCF gaits with a maximum RMS error of 6.20 mm.
Robot Emulation Simulation Engineering Computer science Mechanism (biology)
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What is the core focus of the research titled 'Design of Novel Cable-driven Continuum Robot for Fish Gait Emulation Using Kinetostatic Modelling Approach'?

This literature focuses on: Abstract The design of robotic fish is an active area of research due to their significant potential in unique underwater applications. Recent developments have suggested using flexible fish bodies for improved locomotion efficiency. The cable-dri...

Are there open-source GitHub repositories related to Design of Novel Cable-driven Continuum Robot for Fish Gait Emulation Using Kinetostatic Modelling Approach?

Yes, open-source projects like nikmcfly/MiroFish-Offline (Offline multi-agent simulation & prediction engine. English fork of MiroFish with Neo4j + Ollama local stack.) are actively building upon these concepts.

Which startups are commercializing the technology behind Design of Novel Cable-driven Continuum Robot for Fish Gait Emulation Using Kinetostatic Modelling Approach?

Products like Interactive Simulations in Gemini are bringing this to market. Their focus is: Gemini now lets you play with the concepts you ask about.

What other academic literature is closely related to 'Design of Novel Cable-driven Continuum Robot for Fish Gait Emulation Using Kinetostatic Modelling Approach'?

Yes, highly correlated activity was mapped. An entry titled 'Advancements in magnetic steering of soft magnetic continuum robots for medical applications' discusses this: Cardiovascular disease is one of the leading causes of death worldwide. Endovascular procedures are common treatments but rely on guidewires to nav...

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