Quantifying Dynamic Shapes in Soft Morphologies
Quantifying Dynamic Shapes in Soft Morphologies
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DOI：
10.1089/soro.2018.0105
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发表时间：
2019-07-17
期刊：
影响因子：
7.9
通讯作者：
Rossiter, Jonathan
中科院分区：
文献类型：
--
作者：
Digumarti, Krishna Manaswi;Trimmer, Barry;Rossiter, Jonathan
软材料正在推动新一代机器人的发展，这些机器人具有智能、多用途，并善于克服日常操作中的不确定性。由此产生的软体机器人是柔顺的，并且容易变形以改变形状。与刚体机器人相比，软体机器人的形状很难描述。需要一个数值描述来理解形状的关键特征以及它们如何随着软体变形而变化。它还可以量化形状之间的相似性。在本文中，我们使用基于椭圆傅里叶描述子的方法来描述软变形形态。我们对描述符进行特征形状分析，以提取软机器人运动过程中变化的关键特征，首次在动态系统上进行此类分析。我们将该方法应用于生物和软机器人系统，其中包括被动触手的运动，两种毛毛虫（Manduca sexta和Sphacelodes sp.）的爬行运动，M. sexta身体部分的运动，以及软体机器人与微生物（euglenoid, Eutreptiella sp.）运动的比较。在触须的情况下，我们表明，该方法捕捉在不同的媒体运动的差异。在毛虫中，该方法阐明了爬行的一个突出特征，即末端前肢的延伸。在机器人和euglenoid之间的比较中，我们的方法将形状的相似性量化为85%。此外，我们提出了一种将分析扩展到三维形状的可能方法。
Soft materials are driving the development of a new generation of robots that are intelligent, versatile, and adept at overcoming uncertainties in their everyday operation. The resulting soft robots are compliant and deform readily to change shape. In contrast to rigid-bodied robots, the shape of soft robots cannot be described easily. A numerical description is needed to enable the understanding of key features of shape and how they change as the soft body deforms. It can also quantify similarity between shapes. In this article, we use a method based on elliptic Fourier descriptors to describe soft deformable morphologies. We perform eigenshape analysis on the descriptors to extract key features that change during the motion of soft robots, showing the first analysis of this type on dynamic systems. We apply the method to both biological and soft robotic systems, which include the movement of a passive tentacle, the crawling movement of two species of caterpillar (Manduca sexta and Sphacelodes sp.), the motion of body segments in the M. sexta, and a comparison of the motion of a soft robot with that of a microorganism (euglenoid, Eutreptiella sp.). In the case of the tentacle, we show that the method captures differences in movement in varied media. In the caterpillars, the method illuminates a prominent feature of crawling, the extension of the terminal proleg. In the comparison between the robot and euglenoids, our method quantifies the similarity in shape to similar to 85%. Furthermore, we present a possible method of extending the analysis to three-dimensional shapes.