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A multi-soft-body dynamic model for underwater soft robots

A multi-soft-body dynamic model for underwater soft robots
A multi-soft-body dynamic model for underwater soft robots
We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimming, manipulating and crawling. The dynamics of the robot, which consists of a multi-limbed continuum of elastomeric materials, is extremely complex to account for with conventional modelling tools. Hence a Cosserat based formalism where a Reissner shell model and a finite-strain beam formulation are joined is conceived which lends itself to the description of the highly non linear dynamics of this new family of vehicles in a dense fluid.
2511-1256
143-160
Springer, Cham
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
Dias, Jorge
e54c4975-ddc4-40f5-b583-fb57f159cdd9
Seneviratne, Lakmal
ecdf8c0a-e855-428b-8eff-6eab92764cd5
Bicchi, Antonio
Burgard, Wolfram
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
Dias, Jorge
e54c4975-ddc4-40f5-b583-fb57f159cdd9
Seneviratne, Lakmal
ecdf8c0a-e855-428b-8eff-6eab92764cd5
Bicchi, Antonio
Burgard, Wolfram

Renda, Federico, Giorgio-Serchi, Francesco, Boyer, Frederic, Laschi, Cecilia, Dias, Jorge and Seneviratne, Lakmal (2017) A multi-soft-body dynamic model for underwater soft robots. In, Bicchi, Antonio and Burgard, Wolfram (eds.) Robotics Research. Springer, Cham, pp. 143-160. (Springer Proceedings in Advanced Robotics, , (doi:10.1007/978-3-319-51532-8_9), 2) , (doi:10.1007/978-3-319-51532-8_9).

Record type: Book Section

Abstract

We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimming, manipulating and crawling. The dynamics of the robot, which consists of a multi-limbed continuum of elastomeric materials, is extremely complex to account for with conventional modelling tools. Hence a Cosserat based formalism where a Reissner shell model and a finite-strain beam formulation are joined is conceived which lends itself to the description of the highly non linear dynamics of this new family of vehicles in a dense fluid.

Text RendaEtAl2018_RoboticsResearch_A multi-soft-bod dynamics model for Underwater Soft Robots - Accepted Manuscript
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e-pub ahead of print date: 27 July 2017
Published date: 27 July 2017

Identifiers

Local EPrints ID: 413394
URI: https://eprints.soton.ac.uk/id/eprint/413394
ISSN: 2511-1256
PURE UUID: 3085391b-1ce3-4e4e-98d7-ab63f42a5862
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007

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Date deposited: 23 Aug 2017 16:31
Last modified: 31 Jul 2018 04:01

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