Mathematical Modeling to Improve Control of Mesh Body for Peristaltic Locomotion

被引：6

作者：

Huang, Yifan ^{[1
]}

Kandhari, Akhil ^{[1
]}

Chiel, Hillel J. ^{[2
]}

Quinn, Roger D. ^{[1
]}

Daltorio, Kathryn A. ^{[1
]}

机构：

[1] Case Western Reserve Univ, Dept Mech & Aerosp Engn, Cleveland, OH 44106 USA

[2] Case Western Reserve Univ, Dept Biol Neurosci & Biomed Engn, Cleveland, OH 44106 USA

来源：

BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2017 | 2017年 / 10384卷

基金：

美国国家科学基金会;

关键词：

Soft robotics; Earthworm-inspired kinematics; Simulation; Cable actuation; ROBOT;

D O I：

10.1007/978-3-319-63537-8_17

中图分类号：

Q813 [细胞工程];

学科分类号：

摘要：

In this work, we built a kinematic simulation model for our worm robot, which does peristaltic locomotion. We studied the construction of our robot's mesh-rhombus structure and the structural behavior in response to the actuator controls and simulated them in MATLAB. With some kinematic assumptions, we can model changes in body shape. Friction, gravity, internal forces are not directly modeled, however a single correction factor can be used to align the simulation and hardware progress. New control methods are found based on this model, which reduced the motion slip on the robot. In future work, this simulation can help us control and design future mesh-based robots.

引用

页数：11

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