Geometric Methods for Analyzing and Controlling Undulatory Locomotion Systems

本研究针对一大类包含周期运动的运动系统，探讨其运动产生与控制的几何特性。 内部 形状变化（通常称为 波动的）。 特别强调的是放在机器人游泳运动的几何形状和动力学，模型来自鳗鱼，鱼，和paramatrium中发现的基本运动机制。 这需要 调查连续（就形状而言 和致动）动态系统，并解决相关的设计和控制理论的挑战。 最优控制理论也被用来研究步态的最优性， 并设计出更有效的水生机器人运动形式。 游泳机器人机制提供了许多潜力 转子驱动的优点 设备， 包括提高效率、灵活性和敏捷性，并且可以用于水下搜索和救援，以进入传统车辆不易到达的区域。 在这 工作，理论结果将与实验验证和机器人系统的开发紧密结合。 这项研究也为未来生物步态和群体游泳模式的动态分析、水下监视和检测以及微运动等领域的工作奠定了基础。 本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.