Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots
Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots
复制标题
设计和水动力参数对模拟鱼类机器人优化游泳的影响
DOI：
10.1109/iros47612.2022.9981478
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Cheng, Bo
中科院分区：
文献类型：
--
作者：
Li, Donghao;Deng, Hankun;Bayiz, Yagiz E.;Cheng, Bo
在这项工作中，我们开发了一个数学模型和仿真平台的鱼启发的机器人模板，即磁性，模块化，波动机器人。通过这个平台，我们系统地探讨了机器人设计和流体参数对游泳性能的影响，通过强化学习。数学模型由机器人动力学模型和流体动力学模型两个相互作用的子系统组成。流体动力学模型由反应分量（附加质量力和压力）和阻力分量（阻力和摩擦力）组成。这些组件被无量纲化，用于推导机器人-流体相互作用的关键“控制参数”。通过谐波电压信号控制的磁致动器驱动，通过基于EM的策略超参数探索（EPHE）进行优化，以最大限度地提高向前游泳的速度。通过改变控制参数，共有36例不同的机器人模板变化（驱动器（NoA）和刚度）和流体动力学参数进行了模拟和优化，通过EPHE。结果表明，优化步态的波长（即，沿着身体的反向行波）与模板变化和流体动力学参数无关。较高的NoA产生较高的速度，但单位体长的速度较低，这表明增加致动器的增益逐渐减小。身体和尾鳍动力学流体附加质量，弹簧和驱动扭矩之间的相互作用占主导地位，流体阻力阻力的贡献可以忽略不计。与此相反，推力主要是由尾鳍上的压力，稳定的游泳导致阻力和压力之间的平衡，从附加质量力和身体阻力的贡献很小。因此，附加质量力仅通过尾鳍动力学间接影响推力产生和向前游动速度。
In this work, we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robot. Through this platform, we systematically explored the effects of robot design and fluid parameters on swimming performance via reinforcement learning. The mathematical model was composed of two interacting subsystems, the robotic dynamic model and the hydrodynamic model. The hydrodynamic model consisted of the reactive components (added-mass force and pressure forces) and the resistive components (drag and friction forces). These components were nondimensionalized for deriving key “control parameters” of the robot-fluid interaction. Thewere actuated via magnetic actuators controlled with harmonic voltage signals, which were optimized via EM-based Policy Hyper Parameter Exploration (EPHE) to maximize forward swimming speed. By varying the control parameters, a total of 36 cases with different robot template variations (Number of Actuators (NoA) and stiffness) and hydrodynamic parameters were simulated and optimized via EPHE. Results showed that the wavelength of the optimized gaits (i.e., backward traveling wave along the body) was independent of template variations and hydrodynamic parameters. Higher NoA yielded higher speed but lower speed per body length, suggesting a diminishing gain from added actuators. Body and caudal-fin dynamics were dominated by the interaction among fluid added-mass, spring, and actuation torque, with negligible contribution from fluid resistive drag. In contrast, thrust was dominated by the pressure force acting on the caudal fin, as steady swimming resulted from a balance between resistive force and pressure force, with minor contributions from added-mass force and body drag forces. Therefore, added-mass force only indirectly affected the thrust generation and forward swimming speed via the caudal fin dynamics.
DOI：
--
发表时间：
2000-08
期刊：
The Journal of experimental biology
影响因子：
--
作者：
E. G. Drucker;G. Lauder
通讯作者：
E. G. Drucker;G. Lauder
DOI：
10.1126/science.aaf4292
发表时间：
2016-07-08
期刊：
Science (New York, N.Y.)
影响因子：
--
作者：
Park SJ;Gazzola M;Park KS;Park S;Di Santo V;Blevins EL;Lind JU;Campbell PH;Dauth S;Capulli AK;Pasqualini FS;Ahn S;Cho A;Yuan H;Maoz BM;Vijaykumar R;Choi JW;Deisseroth K;Lauder GV;Mahadevan L;Parker KK
通讯作者：
Parker KK
基于EM的策略超参数探索：应用于两轮智能手机机器人的站立和平衡
影响因子：
0.9
作者：
Jiexin Wang;E. Uchibe;K. Doya
通讯作者：
K. Doya