A unified multi-soft-body dynamic model for underwater soft robots
A unified multi-soft-body dynamic model for underwater soft robots
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DOI：
10.1177/0278364918769992
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
F. Renda;F. Giorgio-Serchi;F. Boyer;C. Laschi;J. Dias;L. Seneviratne
中科院分区：
文献类型：
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作者：
F. Renda;F. Giorgio-Serchi;F. Boyer;C. Laschi;J. Dias;L. Seneviratne
一个统一的配方，占一般类的水生多体，软结构机器人的动力学。该配方是基于Cosserat形式主义的描述的几何实体，如壳和梁，合奏，产生了一个多柔体系统能够模拟操纵和运动。作为一种先进的工具，预先硬件开发，n度的自由度动力学分析和控制设计的水下，软，多体，车辆，该模型进行了验证，对水运动实验的章鱼启发软无人水下机器人。经验证，该模型的普遍适用性表明，通过预测的自推进动力学的各种新的可行组合的多软体水生系统。
A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.