基于流体-结构耦合模型，优化仿鳗软体机器鱼的游动姿态与尾鳍设计。
Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications
- 采用非线性模型结合遗传算法协同优化游动控制与尾鳍形态。
- 实测在静水环境中实现21.7±0.4厘米/秒的牵引游速（0.59 Bl/s）。
- 兼顾游泳与攀爬双模式任务，适用于复杂环境下的软体机器人设计。
本文提出软鳗鱼启发的双环境机器人SLIDER及其建模与优化方法。通过Lighthill理论描述大振幅细长体在流体中的惯性效应、涡旋力与黏性耗散；针对内部压力、尾部尺寸和体部刚度等结构参数，建立快速、几何与材料非线性的验证模型。采用高效的二阶盒式隐式方法求解流固耦合方程。利用气动网络系统驱动SLIDER在静水环境中运行，实现计算与实验结果的交叉对比。研究发现低频游动主要受阻力影响，高频游动则以惯性流体力为主。结合高效模型与遗传算法，共同优化游动控制模式与尾鳍设计（受限于机器人攀爬形态），达成21.7±0.4厘米/秒（0.59 Bl/s）的系绳游速。此外，进一步探究兼顾游泳与攀爬任务的多模态机器人优化流程。
原文摘要 · Abstract (English)
In this paper, we introduce the Soft Lamprey-Inspired Dual Environment Robot (SLIDER) and a proper modeling and optimization procedure employed to design the robot. We represent the primary fluid environment actions - inertial effects, vortex forces, and viscous dissipation - using Lighthill's theory for large-amplitude elongated bodies. For structural design parameters such as internal pressure, tail size, and body stiffness, a fast, geometrically and materially nonlinear model is developed and validated. The fluid-structure interaction equations are solved implicitly with an efficient second-order box method. A pneumatic manifold robotic system is employed to actuate SLIDER in a quiescent water tank environment, allowing cross-comparison of computational and experimental results. We find that low-frequency swimming is dominated by resistant environmental forces, whereas higher-frequency swimming is primarily affected by inertial fluid forces. Using our efficient model alongside a genetic algorithm, we co-optimize a swimming control pattern and caudal fin design (subject to SLIDER's climbing morphology) to achieve a tethered swimming speed of 21.7 +/- 0.4 cm/s (0.59 Bl/s). Furthermore, we investigate the optimization procedure for a multimodal robot performing both swimming and climbing tasks.
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