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Locomotion and elastodynamics model of an underwater shell-like soft robot

Locomotion and elastodynamics model of an underwater shell-like soft robot
Locomotion and elastodynamics model of an underwater shell-like soft robot
This paper reports on the development and validation of the elastodynamics model of an innovative underwater soft-bodied robot inspired by cephalopods. The vehicle, for which the model is devised, is propelled by a discontinuous activation routine which entails the collapse of an elastic shell via cable transmission and its following passive re-inflation under the action of the elastic energy stored in the shell walls. Activation routine and thrust characterization have been determined to depend massively on the capability of the shell to elastically return to its unstrained state, hence an accurate description of the dynamics of the shell during all stages of actuation and at various degrees of deformation is essential. The model, based on a geometrically exact Cosserat theory, is validated against measurement achieved from an ad-hoc experimental apparatus, bringing evidence of its aptness at capturing the key parameters of the system. Eventually the model is employed for simulating a proper propulsion routine in water demonstrating that, upon suitable parametrization of the internal and external hydrodynamics, it can reliably be employed for the realistic quantitative characterization of the cephalopod-inspired robot.
1158-1165
Renda, Federico
495810c0-7ec1-4d22-a099-1cfe208aba95
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Boyer, Frederic
3ee9d74c-2df5-46e7-b315-a49a41497626
Laschi, Cecilia
302c8a64-0ba9-4d5c-9d6f-efcfd4acc64a
Renda, Federico
495810c0-7ec1-4d22-a099-1cfe208aba95
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Boyer, Frederic
3ee9d74c-2df5-46e7-b315-a49a41497626
Laschi, Cecilia
302c8a64-0ba9-4d5c-9d6f-efcfd4acc64a

Renda, Federico, Giorgio-Serchi, Francesco, Boyer, Frederic and Laschi, Cecilia (2015) Locomotion and elastodynamics model of an underwater shell-like soft robot. IEEE International Conference on Robotics and Automation (ICRA), Seattle, United States. 25 - 29 May 2015. pp. 1158-1165 . (doi:10.1109/ICRA.2015.7139337).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper reports on the development and validation of the elastodynamics model of an innovative underwater soft-bodied robot inspired by cephalopods. The vehicle, for which the model is devised, is propelled by a discontinuous activation routine which entails the collapse of an elastic shell via cable transmission and its following passive re-inflation under the action of the elastic energy stored in the shell walls. Activation routine and thrust characterization have been determined to depend massively on the capability of the shell to elastically return to its unstrained state, hence an accurate description of the dynamics of the shell during all stages of actuation and at various degrees of deformation is essential. The model, based on a geometrically exact Cosserat theory, is validated against measurement achieved from an ad-hoc experimental apparatus, bringing evidence of its aptness at capturing the key parameters of the system. Eventually the model is employed for simulating a proper propulsion routine in water demonstrating that, upon suitable parametrization of the internal and external hydrodynamics, it can reliably be employed for the realistic quantitative characterization of the cephalopod-inspired robot.

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More information

Published date: 26 May 2015
Venue - Dates: IEEE International Conference on Robotics and Automation (ICRA), Seattle, United States, 2015-05-25 - 2015-05-29
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 395563
URI: http://eprints.soton.ac.uk/id/eprint/395563
PURE UUID: af2a07da-4499-436b-878e-81d45445d4be
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007

Catalogue record

Date deposited: 06 Jun 2016 15:55
Last modified: 27 Apr 2022 04:15

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Contributors

Author: Federico Renda
Author: Francesco Giorgio-Serchi ORCID iD
Author: Frederic Boyer
Author: Cecilia Laschi

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