三维运动肌肉型章鱼手臂的能量成形控制
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
摘要：
灵活的章鱼手臂具有协调大量自由度和执行复杂操作任务的特殊能力。因此，这些系统继续吸引生物学家和机器人学家的注意。在本文中，我们开发了一个三维模型的软章鱼手臂，配备了生物力学逼真的肌肉驱动。内力和力偶施加的所有主要肌肉群被认为是。描述了一种能量成形控制方法，以协调肌肉活动，从而在3D空间中抓握和到达。本文的主要贡献是：（i）主要肌肉群的建模，以引起三维运动;（ii）基于储能函数的肌肉激活的数学公式;以及（iii）通过求解特殊欧几里得群SE（3）中的优化问题获得的设计特定任务平衡配置的计算效率程序。肌肉控制，然后迭代计算的基础上产生的优化问题的解决方案的协状态变量。该方法在物理精确的软件环境Elastica中进行了数值演示。模拟章鱼行为的数值实验结果的报告。
英文摘要：
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In this paper, we develop a three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation. Internal forces and couples exerted by all major muscle groups are considered. An energy shaping control method is described to coordinate muscle activity so as to grasp and reach in 3D space. Key contributions of this paper are: (i) modeling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group SE(3). Muscle controls are then iteratively computed based on the co-state variable arising from the solution of the optimization problem. The approach is numerically demonstrated in the physically accurate software environment Elastica. Results of numerical experiments mimicking observed octopus behaviors are reported.
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