Dynamic Modeling and Validation of Soft Robotic Snake Locomotion
Dynamic Modeling and Validation of Soft Robotic Snake Locomotion
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DOI：
10.1109/iccar57134.2023.10151763
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发表时间：
2023-03
期刊：
影响因子：
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通讯作者：
Dimuthu D. K. Arachchige;Yue Chen;I. Godage
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文献类型：
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作者：
Dimuthu D. K. Arachchige;Yue Chen;I. Godage
柔软的机器蛇由柔顺的材料制成，可以不断地变形它们的身体，因此，模仿生物蛇的灵活和敏捷的运动步态比它们的刚性身体同行更好。在没有车轮支撑的情况下，迄今为止，软蛇机器人只能模拟平面运动步态，这些步态是通过运动学建模和机器人原型测试得出的。考虑到蛇的运动是由其皮肤与地面之间的分布接触所产生的反作用力引起的，因此有必要通过能够容纳分布接触力的有效动力学模型来研究蛇的运动步态。我们提出了一个完整的空间动力学模型，该模型采用浮动基座运动学模型，具有分布式接触动力学。利用所提出的模型对平面和空间滚动步态的可行性进行了数值评估，并在软体蛇机器人原型上对相应的运动步态轨迹进行了实验验证。定性和定量地比较了数值和实验结果，证实了所提动力学模型的有效性。
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to date, soft robotic snakes are limited to emulating planar locomotion gaits, which are derived via kinematic modeling and tested on robotic prototypes. Given that the snake locomotion results from the reaction forces due to the distributed contact between their skin and the ground, it is essential to investigate the locomotion gaits through efficient dynamic models capable of accommodating distributed contact forces. We present a complete spatial dynamic model that utilizes a floating-base kinematic model with distributed contact dynamics for a pneumatically powered soft robotic snake. We numerically evaluate the feasibility of the planar and spatial rolling gaits utilizing the proposed model and experimentally validate the corresponding locomotion gait trajectories on a soft robotic snake prototype. We qualitatively and quantitatively compare the numerical and experimental results which confirm the validity of the proposed dynamic model.