用有限元模拟鳗鱼机器人，优化其游泳性能与设计。
Modeling and Control of an Eel-Inspired Soft Robot for Design Optimization
- 基于弹性杆的有限元模型模拟软材料特性变化。
- 略不对称设计可实现同等速度下更高机动性。
- 适合关注仿生机器人设计与控制的研究者。
鳗鱼式运动是一种高效游泳方式；新型软材料的发展使鳗鱼仿生软体机器人成为可能。本文提出一种用于鳗鱼式游泳的仿生软体机器人仿真模型，该模型有助于设计优化及基于模型的估计、推理与控制系统开发。采用有限元法（FEM）建立弹性杆模型以捕捉机器鱼的软材料特性，能有效反映材料属性随时间变化的情况。该材料模型与流体动力学模型耦合，模拟细长软体机器人在水中的行为。模型验证了所提控制策略在实现期望游泳行为方面的有效性，并为设计决策提供洞见，包括不同系统配置的鲁棒性以及材料退化与失效的影响。结果表明，略微不对称的设计具有优势：在保持相近游泳速度的同时，显著提升机动性。该模型可指导未来针对特定任务的机器人性能优化设计。
原文摘要 · Abstract (English)
Anguilliform locomotion is a highly efficient swimming mode; the advent of new materials for soft robots enables the development of an eel-inspired soft robot. This paper presents a simulation model of an eel-inspired soft robot designed for anguilliform swimming. This model can aid in design optimization and the development of model-based estimation, reasoning, and control systems. A Finite Element Method (FEM) model of an elastic rod is used to capture the soft materials of the robotic fish, which makes it particularly amenable to variation over time as the material properties change. The material model is coupled with a hydrodynamic force model to simulate the behavior of a soft, elongated robot in water. The model is used to demonstrate the effectiveness of the proposed control approaches in achieving desired swimming behaviors. It also provides insights into design decisions, including the robustness of different system configurations and the impact of material degradation and failure. The results show that slightly asymmetric designs are advantageous, offering comparable swimming velocities but greater maneuverability. This model can be used to guide future robotic design decisions aimed at optimizing performance for specific tasks.
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