章鱼仿生肌肉静水骨骼的拓扑、动力学与控制
Topology, dynamics, and control of an octopus-analog muscular hydrostat
AI总结：
本文结合医学成像、生物力学实验与数值模拟构建约200个连续肌肉群的章鱼臂模型，揭示其运动可通过拓扑量的存储、传输与转换及简单肌肉激活模板组合实现，为肌肉静水骨骼与机器人控制提供设计原理。
摘要：
肌肉静水骨骼（如章鱼臂或象鼻）完全缺乏骨骼，赋予其卓越的灵巧性和可重构性。它们能够控制近乎无限自由度的关键，在于肌肉纤维交织而成的结构。这种排列实际上是一种复杂机械程序的实例化，它中介并可能促进了复杂动态形态重构的控制与实现。在此，通过结合医学成像、生物力学数据、活体行为实验和数值模拟，我们合成了一个包含约200个连续肌肉群的模型章鱼臂，并开始揭示其复杂性。我们展示了如何通过简单的肌肉激活模板，从拓扑量的存储、传输和转换的角度来理解三维臂运动。这些模板进而可以组合成更高层次的控制策略，在臂的柔顺性加持下，在一系列物体操作任务中得到验证；这些任务因需要适当对齐吸盘、进行感知和抓取而更具挑战性。总体而言，我们的工作揭示了适用于肌肉静水骨骼、机器人学和动力学的广泛设计与算法原理，同时显著提升了我们从医学成像建模肌肉结构的能力，对人类健康和护理具有潜在意义。
英文摘要：
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the architecture into which muscle fibers are weaved. Their arrangement is, effectively, the instantiation of a sophisticated mechanical program that mediates, and likely facilitates, the control and realization of complex, dynamic morphological reconfigurations. Here, by combining medical imaging, biomechanical data, live behavioral experiments and numerical simulations, we synthesize a model octopus arm entailing ~200 continuous muscles groups, and begin to unravel its complexity. We show how 3D arm motions can be understood in terms of storage, transport, and conversion of topological quantities, effected by simple muscle activation templates. These, in turn, can be composed into higher-level control strategies that, compounded by the arm's compliance, are demonstrated in a range of object manipulation tasks rendered additionally challenging by the need to appropriately align suckers, to sense and grasp. Overall, our work exposes broad design and algorithmic principles pertinent to muscular hydrostats, robotics, and dynamics, while significantly advancing our ability to model muscular structures from medical imaging, with potential implications for human health and care.
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。
