软体机器鱼设计与游动姿态协同优化，提升高低雷诺数下效率
Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers
- 从几何运动学出发，统一建模低/高雷诺数下的软体连续体游动
- 优化后的形态与游动模式在相同自由度下效率优于三段式或蛇形摆动
- 适用于仿生水下机器人设计，尤其适合跨尺度高效游动场景
软致动器的进展使软体连续体游泳机器人实现了更高效率，并更贴近真实海洋生物的行为。然而，优化此类机器人的结构与控制仍具挑战。本文提出一种基于几何运动学分析的结构与控制协同优化框架，涵盖低和高雷诺数下的游泳行为。通过将几何力学原理推广至连续体，实现不同功耗指标与游泳环境下的高效几何变分协同优化。所得最优结构与游动模式在相同自由度下，于低、高雷诺数环境下均表现出更高效率，接近甚至超越无限柔顺型或更高自由度的游动器。
原文摘要 · Abstract (English)
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum robots remains a significant challenge. In this paper, we present a practical framework for the co-optimization of the design and control of soft continuum robots, approached from a geometric locomotion analysis perspective. This framework is based on the principles of geometric mechanics, accounting for swimming at both low and high Reynolds numbers. By generalizing geometric principles to continuum bodies, we achieve efficient geometric variational co-optimization of designs and gaits across different power consumption metrics and swimming environments. The resulting optimal designs and gaits exhibit greater efficiencies at both low and high Reynolds numbers compared to three-link or serpenoid swimmers with the same degrees of freedom, approaching or even surpassing the efficiencies of infinitely flexible swimmers and those with higher degrees of freedom.
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