1. Bioinspired Robots
Manta and stingrays

2. Mimic vs. Inspiration

3. Why a Stingray?

4. Why a stingray? Cownose manta ray Southern stingray
Manta rays migrating in open ocean:

5. Human-made state of the art
Meet “Waldo”
Meet “Hercules”

6. Oscillation vs. Undulation
Intermediate
motion
oscillatory

7. Undulatory

8. Extracting form and function

9. CADD model

10. What’s inside the box
Tail
Nose

11. Rearward propagating wave

12. Stroke dynamics: motion tracking
(action starts at ~ 24 s)
(best footage ~ s)
starts at ~ 5 s)
Rearward propagating wave

13. Velocity vs. flapping frequency

14. Where are we now?

15. Future directions Efficiency/actuators? Buoyancy?
Fluid mechanics of thrust?

16. Citations
Biomimetic Stingray with Intermediate Propulsion Jack Gaiennie, Lincoln Neely,Nick Noble (Bioengineering winter 2015)
Rosenberger, L. J., “Pectoral Fin Locomotion in Batoid Fishes: Undulation versus Oscillation,” The Journal of Experimental Biology 204, , 2001.
 Schaefer, J. T., Summers, A. P., “Batoid Wing Skeletal Structure: Novel Morphologies, Mechanical Implications, and Phylogenetic Patterns,” Journal of Morphology 264: , 2005.