Geometric Methods for Analyzing and Controlling Undulatory Locomotion Systems

这项研究研究了一大类运动系统的运动生成和控制的几何方面，这些运动系统涉及循环的内部形状变化(通常称为波动)。特别强调机器人游泳运动的几何学和动力学，模型源自鳗鱼、鱼和草履虫的基本运动机制。这需要研究连续的(在形状和驱动方面)动态系统，并解决相关的设计和控制理论挑战。最优控制理论也被用来研究生物系统中步态的最优性，并设计出更有效的水上机器人运动形式。与转子驱动装置相比，游泳机器人机构具有许多潜在的优势，包括更高的效率、灵活性和敏捷性，可以用于水下搜索和救援，进入传统机器人不易进入的区域。在这项工作中，理论结果将与实验验证和机器人系统的开发紧密结合。这项研究也为生物步态和群体游泳模式的动态分析、水下监测和检测以及微运动等领域的未来工作奠定了基础。这项研究的一个长期目标是利用MEMS技术在细胞生物尺度上制造运动装置。

This research studies the geometric aspects of motion generation and control for a large class of locomotion systems involving cyclic internal shape changes (often called undulatory). Particular emphasis is placed on the geometry and dynamics of robotic swimming motions, with models derived from the basic locomotion mechanisms found in eels, fish, and paramecia. This requires investigating continuous (in terms of shape and actuation) dynamic systems and addressing the associated design and control theoretic challenges. Optimal control theory is also employed to study both the optimality of gaits found in biological systems and to design more efficient forms of aquatic robotic locomotion. Swimming robotic mechanisms offer many potential advantages over rotor-driven devices, including increased efficiency, flexibility, and agility, and can be used in underwater search and rescue to enter areas that are not easily accessible by traditional vehicles. In this work, theoretical results will be tightly coupled with experimental verification and the development of robotic systems. This research also builds a foundation for future work in areas such as dynamic analyses of biological gaits and group swimming patterns, underwater surveillance and detection, and micro- locomotion. A long-term goal of this research is to fabricate locomotion devices on the cellular biological scale using MEMS technology.