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首页> 外文会议>IEEE International Conference on Soft Robotics >Evaluation on Swimming Efficiency of an Eel-inspired Soft Robot with Partially Damaged Body
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Evaluation on Swimming Efficiency of an Eel-inspired Soft Robot with Partially Damaged Body

机译：鳗鱼启发软机器的游泳效率评价

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摘要

In this paper, we present an evaluation of swimming efficiency of a previously developed tethered eel-inspired soft robot, when the body suffered from partial damage (i.e., losing control) at its lower region (tail part). Swimming strategy of body damage was constructed based on controlling inputs of four pairs of soft actuators that constitute the eel robot. The tail part will be passive (i.e., without active control). We also varied shifting phase of control inputs in order to seek the best range for creating smooth propagation waves from anterior to posterior part of the robot body, which mimics the movement of an anguilliform swimmer. At two modes (including normal body and passive tail), the robot performed better velocity in the range of shifting phase s from 30 % to 50 %. Interestingly, the robot’s swimming velocity with a passive tail was improved compared to that of the robot with normal state (without damaged parts). We also evaluated cost of transport (COT) in all cases, and the best value of COT is 11.06 created by the robot with passive body. In this mode, the robot also swims with the highest velocity of 14.34 cm/s (0.27 BL/s). The result in this paper can be utilized to optimize the design and efficiency of swimming elongated soft robots.
机译：在本文中，当身体在其下部区域（尾部）处（即失去控制）受到部分损伤（即失去控制）时，我们展示了先前开发的系带的鳗鱼启发软机器人的游泳效率的评估。基于控制鳗鱼机器人的四对软执行器的输入来构建身体损坏的游泳策略。尾部部分将是被动的（即，没有主动控制）。我们还改变了控制输入的变速阶段，以寻求从机器人身体的前部到后部创建平滑传播波的最佳范围，这模仿了昂贵的游泳运动员的运动。在两种模式（包括普通体和被动尾部），机器人在换档阶段S的范围内执行的更好的速度为30％至50％。有趣的是，与具有正常状态的机器人相比，机器人的游泳速度得到改善，具有正常状态（没有损坏部件）。我们还在所有情况下评估运输费用（COT），并且COT的最佳价值是11.06由机器人创造，具有被动体。在这种模式下，机器人还具有14.34cm / s（0.27bl / s）的最高速度。本文的结果可用于优化游泳细长软机器人的设计和效率。

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