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

A unified multi-soft-body dynamic model for underwater soft robots
A unified multi-soft-body dynamic model for underwater soft robots
A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.
0278-3649
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
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

Renda, Federico, Giorgio-Serchi, Francesco, Boyer, Frederic, Laschi, Cecilia, Dias, Jorge and Seneviratne, Lakmal (2018) A unified multi-soft-body dynamic model for underwater soft robots. The International Journal of Robotics Research. (doi:10.1177/0278364918769992).

Record type: Article

Abstract

A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation and locomotion. Conceived as an advanced tool for a priori hardware development, n-degree-of-freedom dynamics analysis and control design of underwater, soft, multi-body, vehicles, the model is validated against aquatic locomotion experiments of an octopus-inspired soft unmanned underwater robot. Upon validation, the general applicability of the model is demonstrated by predicting the self-propulsion dynamics of a diverse range of new viable combinations of multi-soft-body aquatic system.

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Accepted/In Press date: 7 March 2018
e-pub ahead of print date: 2 May 2018

Identifiers

Local EPrints ID: 420965
URI: http://eprints.soton.ac.uk/id/eprint/420965
ISSN: 0278-3649
PURE UUID: 65e5bfb9-8cfc-45f4-9bf2-cb9880363558
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007

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Date deposited: 18 May 2018 16:31
Last modified: 26 Apr 2022 22:23

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Contributors

Author: Federico Renda
Author: Francesco Giorgio-Serchi ORCID iD
Author: Frederic Boyer
Author: Cecilia Laschi
Author: Jorge Dias
Author: Lakmal Seneviratne

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