Performing daily interaction tasks such as opening doors and pulling drawers in unstructured environments is a challenging problem for robots. The emergence of soft-bodied robots brings a new perspective to solving this problem. In this paper, inspired by humans performing interaction tasks through simple behaviors, we propose a hierarchical control system for soft arms, in which the low-level controller achieves motion control of the arm tip, the high-level controller controls the behaviors of the arm based on the low-level controller, and the top-level planner chooses what behaviors should be taken according to tasks. To realize the motion control of the soft arm in interacting with environments, we propose two control methods. The first is a feedback control method based on a simplified Jacobian model utilizing the motion laws of the soft arm that are not affected by environments during interaction. The second is a control method based on [Formula: see text]-learning, in which we present a novel method to increase training data by setting virtual goals. We implement the hierarchical control system on a platform with the Honeycomb Pneumatic Networks Arm (HPN Arm) and validate the effectiveness of this system on a series of typical daily interaction tasks, which demonstrates this proposed hierarchical control system could render the soft arms to perform interaction tasks as simply as humans, without force sensors or accurate models of the environments. This work provides a new direction for the application of soft-bodied arms and offers a new perspective for the physical interactions between robots and environments.

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Morchella is a kind of medicinal and edible homologous fungia that is rich in multiple metabolites. The metabolites from Morchella are a kind of essential substance because of their biological activities. In this study, Morchella fruit bodies and mycelium were selected to identify their metabolites. The primary metabolites of the two experimental group were analyzed using a method of widely targeted metabolome based on UPLC-ESI-MS/MS. A total of 354 different metabolites, including 188 upregulated metabolites and 166 downregulated metabolites, were characterized. Further, the main 20 metabolic pathways of the metabolites were analyzed. The rst 9 ones are tyrosine metabolites, thyroid hormone biosynthetic pathway, phenylalanine metabolites, linoleic metabolites synthetic pathway, glycerophosphate metabolic pathway, choline in tumors, methyl butyl metabolites, arginine synthetic pathway, arginine, arginine and proline metabolites. This study provides theoretical basis for the analysis of metabolic pathway of Morchella fruit bodies and mycelium that serving for further research of their medicinal mechanism and effective components.

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