论文标题
用于机器人游泳的被动不对称结构的控制和形态优化
Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming
论文作者
论文摘要
水生物具有显着的身体适应性，可有效与周围的液体相互作用。它们的形态，运动和环境之间的紧密耦合非常复杂，但在在软机器人游泳者中创建仿生结构时是一个有价值的例子。我们专注于在结构中使用不对称性，以帮助推力产生和可操作性。探索了具有不对称轮廓的结构的设计，以便我们可以使用形态来“塑造”推力产生。我们建议将简单的仿真与自动数据驱动的方法组合，以探索它们与流体的相互作用。与基线对称结构相比，及其合作形态和控制器的不对称结构能够产生有用推力的2.5倍。此外，这些不对称的羽毛状臂在能够向前游泳运动的机器人系统上进行了验证，而装有普通羽毛的机器人无法向前移动。
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example when creating biomimetic structures in soft robotic swimmers. We focus on the use of asymmetry in structures to aid thrust generation and maneuverability. Designs of structures with asymmetric profiles are explored so that we can use morphology to `shape' the thrust generation. We propose combining simple simulation with automatic data-driven methods to explore their interactions with the fluid. The asymmetric structure with its co-optimized morphology and controller is able to produce 2.5 times the useful thrust compared to a baseline symmetric structure. Furthermore these asymmetric feather-like arms are validated on a robotic system capable of forward swimming motion while the same robot fitted with a plain feather is not able to move forward.
