CyberOctopus软体机械臂的能量整形控制
Energy Shaping Control of a CyberOctopus Soft Arm
AI总结：
针对建模为Cosserat杆的CyberOctopus软体章鱼臂，提出基于Hamilton系统的两步能量整形控制及在线前向-后向变形算法，并通过动态仿真验证渐近稳定效果。
摘要：
本文将能量整形方法应用于柔性弹性Cosserat杆模型的控制。近期对此类连续体模型的关注源于软体机器人领域的应用，以及人们日益认识到力学和具身性在生物控制策略中的作用：章鱼常被视为这种相互作用的标志性范例。本文将模拟单条章鱼臂的Cosserat杆动力学视为一个Hamilton系统，并将内部肌肉执行器建模为分布式力和力偶。所提出的能量整形控制设计过程包括两个步骤：（1）设计一个势能，使其极小化子为期望平衡构型；（2）实现能量整形控制律以到达该期望平衡。通过将受控Hamilton量解释为Lyapunov函数，推导出平衡构型的渐近稳定性。研究表明，能量整形控制律仅需要平衡构型的变形。本文提出一种前向-后向算法，以在线迭代方式计算这些变形。整体控制设计方法在一个动态仿真环境中得到实现和演示，并报告了若干涉及章鱼臂控制的仿生数值实验结果。
英文摘要：
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of mechanics and embodiment in biological control strategies: octopuses are often regarded as iconic examples of this interplay. Here, the dynamics of the Cosserat rod, modeling a single octopus arm, are treated as a Hamiltonian system and the internal muscle actuators are modeled as distributed forces and couples. The proposed energy shaping control design procedure involves two steps: (1) a potential energy is designed such that its minimizer is the desired equilibrium configuration; (2) an energy shaping control law is implemented to reach the desired equilibrium. By interpreting the controlled Hamiltonian as a Lyapunov function, asymptotic stability of the equilibrium configuration is deduced. The energy shaping control law is shown to require only the deformations of the equilibrium configuration. A forward-backward algorithm is proposed to compute these deformations in an online iterative manner. The overall control design methodology is implemented and demonstrated in a dynamic simulation environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
