Amoeba-inspired swimming through isoperimetric modulation of body shape
Amoeba-inspired swimming through isoperimetric modulation of body shape
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DOI：
10.1109/iros47612.2022.9982120
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Curtis Sparks;Nathan Justus;R. Hatton;N. Gravish
中科院分区：
文献类型：
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作者：
Curtis Sparks;Nathan Justus;R. Hatton;N. Gravish
在这项工作中，我们提出了一个游泳机器人的设计，其灵感来自于小微生物的体型调节。变形虫是一种小型单细胞生物，通过身体的变形和形状变化来移动。为了在机器人的游泳推进中实现类似的形状调制，我们开发了一种新型的柔性附件。带式弹簧是一种细长的金属条，具有弯曲的横截面，当载荷对抗曲率时，它可以作为一个刚性结构，而当载荷具有曲率时，它很容易弯曲。我们开发了一种磁带弹簧附件，能够通过两个驱动输入自由变形其周长。在本文的第一部分，我们发展了附属机构的运动学，并与实验进行了比较。接下来，我们提出了一个表面移动机器人的设计，它使用两个附属物来推进。从附体运动学出发，推导出运动运动学的局部连接向量场，研究了向前游泳的最佳步态。最后，我们演示了机器人在开放水域条件下的游泳性能。该机器人新颖的附件设计具有全方位运动的优势，它不会被碎片缠绕，并且对碰撞和接触结构具有很强的鲁棒性。
In this work we present the design of a swimming robot that is inspired by the body shape modulation of small microorganisms. Amoebas are small single celled organisms that locomote through deformation and shape change of their body. To achieve similar shape modulation for swimming propulsion in a robot we developed a novel flexible appendage using tape springs. A tape spring is an elongated strip of metal with a curved cross-section that can act as a stiff structure when loaded against the curvature, while it can easily buckle when loaded with the curvature. We develop a tape spring appendage that is capable of freely deforming its perimeter through two actuation inputs. In the first portion of this paper we develop the kinematics of the appendage mechanisms and compare with experiment. Next we present the design of a surface locomoting robot that uses two appendages for propulsion. From the appendage kinematics we derive the local connection vector field for locomotion kinematics and study the optimal gait for forward swimming. Lastly, we demonstrate robot swimming performance in open water conditions. The novel appendage design in this robot is advantageous because it enables omnidirectional movement, the appendages will not tangle in debris, and they are robust to collisions and contact with structures.