鳗鱼启发式软机器人的建模与控制及其设计优化
Modeling and Control of an Eel-Inspired Soft Robot for Design Optimization
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中文总结 AI 辅助
本文建立鳗鱼启发式软机器人仿真模型，结合有限元法与流体力模型验证控制方法有效性，发现略不对称设计兼具相当速度与更强机动性，可指导机器人设计优化。
中文摘要 AI 辅助
鳗形运动是一种高效的游泳模式；软机器人新材料的出现使得开发鳗鱼启发式软机器人成为可能。本文提出了一种用于鳗形游泳的鳗鱼启发式软机器人仿真模型，该模型可辅助设计优化以及基于模型的估计、推理和控制系统的开发。采用弹性杆的有限元法（FEM）模型来捕捉机器鱼的软材料特性，这使其特别适用于材料特性随时间变化的场景。该材料模型与流体力模型耦合，以模拟水中软质细长机器人的行为。该模型用于验证所提出控制方法在实现预期游泳行为方面的有效性，还为设计决策提供了见解，包括不同系统配置的鲁棒性以及材料退化和故障的影响。结果表明，略微不对称的设计具有优势，可提供相当的游泳速度但具备更强的机动性。该模型可用于指导未来针对特定任务优化性能的机器人设计决策。
英文摘要
Anguilliform locomotion is a highly efficient swimming mode; the advent of new materials for soft robots enables the development of an eel-inspired soft robot. This paper presents a simulation model of an eel-inspired soft robot designed for anguilliform swimming. This model can aid in design optimization and the development of model-based estimation, reasoning, and control systems. A Finite Element Method (FEM) model of an elastic rod is used to capture the soft materials of the robotic fish, which makes it particularly amenable to variation over time as the material properties change. The material model is coupled with a hydrodynamic force model to simulate the behavior of a soft, elongated robot in water. The model is used to demonstrate the effectiveness of the proposed control approaches in achieving desired swimming behaviors. It also provides insights into design decisions, including the robustness of different system configurations and the impact of material degradation and failure. The results show that slightly asymmetric designs are advantageous, offering comparable swimming velocities but greater maneuverability. This model can be used to guide future robotic design decisions aimed at optimizing performance for specific tasks.
发表机构
- Cornell University（康奈尔大学）
机构由 AI 辅助整理，请以论文原文为准。
