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Hybrid parameter identification of a multi-modal underwater soft robot

Hybrid parameter identification of a multi-modal underwater soft robot
Hybrid parameter identification of a multi-modal underwater soft robot
We introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient.
1748-3182
025007
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Arienti, Andrea
64933f16-d247-42bc-a453-cbe474efa594
Corucci, F.
a87361ad-a6bc-4735-b760-45e5be41d7e2
Giorelli, M.
bc3da40f-619c-46c8-9327-63ff6f309961
Laschi, C.
6e9fe8be-5413-432a-a299-fda20b80ba59
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Arienti, Andrea
64933f16-d247-42bc-a453-cbe474efa594
Corucci, F.
a87361ad-a6bc-4735-b760-45e5be41d7e2
Giorelli, M.
bc3da40f-619c-46c8-9327-63ff6f309961
Laschi, C.
6e9fe8be-5413-432a-a299-fda20b80ba59

Giorgio-Serchi, Francesco, Arienti, Andrea, Corucci, F., Giorelli, M. and Laschi, C. (2017) Hybrid parameter identification of a multi-modal underwater soft robot. Bioinspiration & Biomimetics, 12 (2), 025007. (doi:10.1088/1748-3190/aa5ccc).

Record type: Article

Abstract

We introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient.

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Accepted/In Press date: 30 January 2017
e-pub ahead of print date: 28 February 2017
Published date: 28 February 2017
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 407439
URI: http://eprints.soton.ac.uk/id/eprint/407439
ISSN: 1748-3182
PURE UUID: ef5d9548-2ca0-4c48-853c-f06f6b30e0ed
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007

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Date deposited: 07 Apr 2017 01:05
Last modified: 26 Apr 2022 21:41

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Contributors

Author: Francesco Giorgio-Serchi ORCID iD
Author: Andrea Arienti
Author: F. Corucci
Author: M. Giorelli
Author: C. Laschi

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