TY - JOUR
T1 - A unified multi-soft-body dynamic model for underwater soft robots
AU - Renda, Federico
AU - Giorgio-Serchi, Francesco
AU - Boyer, Frederic
AU - Laschi, Cecilia
AU - Dias, Jorge
AU - Seneviratne, Lakmal
N1 - Funding Information:
This work was partially supported by Foundation Grant project PoseiDRONE of the Cassa di Risparmio di Livorno. Dr. F. Giorgio-Serchi is supported by the Natural Environmental Research Council (grant number NE/P003966/1) and by the SMMI-HEIF grant.
Publisher Copyright:
© 2018, The Author(s) 2018.
PY - 2018/5/1
Y1 - 2018/5/1
N2 - A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.
AB - A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.
KW - bio-inspired robotics
KW - dynamics
KW - marine robotics
KW - Soft robotics
UR - http://www.scopus.com/inward/record.url?scp=85048238333&partnerID=8YFLogxK
U2 - 10.1177/0278364918769992
DO - 10.1177/0278364918769992
M3 - Article
AN - SCOPUS:85048238333
SN - 0278-3649
VL - 37
SP - 648
EP - 666
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
IS - 6
ER -