Compliant Fins for Locomotion in Granular Media
Compliant Fins for Locomotion in Granular Media
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DOI：
10.1109/lra.2021.3084877
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发表时间：
2021-01
影响因子：
5.2
通讯作者：
D. Li;Sichuan Huang;Yong Tang;J. Tao;H. Marvi;Daniel M. Aukes
中科院分区：
文献类型：
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作者：
D. Li;Sichuan Huang;Yong Tang;J. Tao;H. Marvi;Daniel M. Aukes
在这封信中，我们提出了一种方法来研究颗粒状介质中的顺应性板的行为，并优化利用这种技术的移动性的机器人的性能。从以前的工作和基本测试薄板力产生颗粒介质内，我们介绍了一个折纸启发机制与非线性符合的关节，可用于颗粒推进。这个概念利用单侧关节限制来创建不对称的步态周期，从而避免了在其他游泳/挖掘机器人中常见的更复杂的替代方案。为了分析它的运动以及它的形状和推进力，我们利用颗粒阻力理论（RFT）作为出发点。将顺应性加入到这个理论中，使我们能够预测顺应性板在被拖动和旋转时的基于时间的演化。它还允许更合理的设计游泳机器人鳍设计变量可以针对颗粒介质的特性进行优化。这是使用基于Python的动态仿真库来对板的变形进行建模并优化机器人步态的各个方面。最后，我们原型和测试机器人的步态优化使用上述建模技术。
In this letter, we present an approach to study the behavior of compliant plates in granular media and optimize the performance of a robot that utilizes this technique for mobility. From previous work and fundamental tests on thin plate force generation inside granular media, we introduce an origami-inspired mechanism with non-linear compliance in the joints that can be used in granular propulsion. This concept utilizes one-sided joint limits to create an asymmetric gait cycle that avoids more complicated alternatives often found in other swimming/digging robots. To analyze its locomotion as well as its shape and propulsive force, we utilize granular Resistive Force Theory (RFT) as a starting point. Adding compliance to this theory enables us to predict the time-based evolution of compliant plates when they are dragged and rotated. It also permits more rational design of swimming robots where fin design variables may be optimized against the characteristics of the granular medium. This is done using a Python-based dynamic simulation library to model the deformation of the plates and optimize aspects of the robot's gait. Finally, we prototype and test robot with a gait optimized using the modelling techniques mentioned above.