An underwater bionic crab soft robot with multidirectional controllable motion ability

Chen, Tong; Chen, Yuan; Wang, Zeyang

doi:10.1016/j.oceaneng.2023.114412

Cited by 21 publications

(3 citation statements)

References 28 publications

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“…Not limited to the modeling of underwater snake robots, there are approximately four main modeling families for soft robotics: geometric models, continuum mechanics models, discrete models, and data-driven models [21]. Geometric models replace the skeleton with different geometric shapes [22], while continuum mechanics models most commonly utilize finite element models [23]. Both of them face challenges in reducing dimensions for real-time simulations [21].…”

Section: Commonly Used Theories and Methods For Modeling Manta Robotmentioning

confidence: 99%

A Rigid-Flexible Coupling Dynamic Model for Robotic Manta with Flexible Pectoral Fins

Qu,

Xie,

Zhang

et al. 2024

JMSE

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The manta ray, exemplifying an agile swimming mode identified as the median and paired fin (MPF) mode, inspired the development of underwater robots. Robotic manta typically comprises a central rigid body and flexible pectoral fins. Flexible fins provide excellent maneuverability. However, due to the complexity of material mechanics and hydrodynamics, its dynamics are rarely studied, which is crucial for the advanced control of robotic manta (such as trajectory tracking, obstacle avoidance, etc.). In this paper, we develop a multibody dynamic model for our novel manta robot by introducing a pseudo-rigid body (PRB) model to consider passive deformation in the spanwise direction of the pectoral fins while avoiding intricate modeling. In addressing the rigid-flexible coupling dynamics between flexible fins and the actuation mechanism, we employ a sequential coupling technique commonly used in fluid-structure interaction (FSI) problems. Numerical examples are provided to validate the MPF mode and demonstrate the effectiveness of the dynamic model. We show that our model performs well in the rigid-flexible coupling analysis of the manta robot. In addition to the straight-swimming scenario, we elucidate the viability of tailoring turning gaits through systematic variations in input parameters. Moreover, compared with finite element and CFD methods, the PRB method has high computational efficiency in rigid-flexible coupling problems. Its potential for real-time computation opens up possibilities for future model-based control.

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Section: Commonly Used Theories and Methods For Modeling Manta Robotmentioning

confidence: 99%

A Rigid-Flexible Coupling Dynamic Model for Robotic Manta with Flexible Pectoral Fins

Qu,

Xie,

Zhang

et al. 2024

JMSE

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show abstract

“…From the perspective of the overall motion effect, this kind of underwater soft robot runs faster, but the continuity of movement is poor, which will greatly limit the accuracy of the locomotion. [ 91,226 ] The underwater soft robots with crawling and walking locomotion patterns [ 18,82,227,228 ] mimic the movement of the organisms living on the substrate of water more, which seriously limits the maximum speed of the robots; however, it ensures a better controllability.…”

Section: Actuation Locomotion Pattern and Power Storagementioning

confidence: 99%

Recent Advances on Underwater Soft Robots

Qu,

Xu,

et al. 2023

Advanced Intelligent Systems

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The ocean environment has enormous uncertainty due to the influence of complex waves and undercurrents. The human beings are limited in their abilities to detect and utilize marine resources without powerful tools. Soft robots employ soft materials to simplify the complex mechanical structures in rigid robots and adapt their morphology to the environment, making them suitable for performing some challenging tasks in place of manual labor. Due to superior flexible and deformable bodies, underwater soft robots have played significant roles in numerous applications in recent decades. Meanwhile, various technical challenges still need to be tackled to ensure the reliability and practical performance of underwater soft robots in complicated ocean environment. Nowadays, some researchers have developed underwater soft robotic systems based on biomimetics and other disciplines, aiming at comprehensive exploration of ocean and appropriate utilization of unexploited resources. This review presents the recent advances of underwater soft robots in the aspects of intelligent soft materials, fabrication, actuation, locomotion patterns, power storage, sensing, control, and modeling; additionally, the existing challenges and perspectives are analyzed as well.

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“…Environmental monitoring and data collection also benefit from these systems as they can gather more diverse and comprehensive data [7][8][9]. Further, multi-robot systems are even used in space [10][11][12][13][14] and deep-sea explorations [15][16][17][18], reaching areas that are too dangerous or distant for human researchers [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Theoretical Framework and Practical Considerations for Achieving Superior Multi-Robot Exploration: Hybrid Cheetah Optimization with Intelligent Initial Configurations

El Romeh,

Mirjalili

2023

Mathematics

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Efficient exploration in multi-robot systems is significantly influenced by the initial start positions of the robots. This paper introduces the hybrid cheetah exploration technique with intelligent initial configuration (HCETIIC), a novel strategy explicitly designed to optimize exploration efficiency across varying initial start configurations: uniform distribution, centralized position, random positions, perimeter positions, clustered positions, and strategic positions. To establish the effectiveness of HCETIIC, we engage in a comparative analysis with four other prevalent hybrid methods in the domain. These methods amalgamate the principles of coordinated multi-robot exploration (CME) with different metaheuristic algorithms and have demonstrated compelling results in their respective studies. The performance comparison is based on essential measures such as runtime, the percentage of the explored area, and failure rate. The empirical results reveal that the proposed HCETIIC method consistently outperforms the compared strategies across different start positions, thereby emphasizing its considerable potential for enhancing efficiency in multi-robot exploration tasks across a wide range of real-world scenarios. This research underscores the critical, yet often overlooked, role of the initial robot configuration in multi-robot exploration, establishing a new direction for further improvements in this field.

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An underwater bionic crab soft robot with multidirectional controllable motion ability

Cited by 21 publications

References 28 publications

A Rigid-Flexible Coupling Dynamic Model for Robotic Manta with Flexible Pectoral Fins

A Rigid-Flexible Coupling Dynamic Model for Robotic Manta with Flexible Pectoral Fins

Recent Advances on Underwater Soft Robots

Theoretical Framework and Practical Considerations for Achieving Superior Multi-Robot Exploration: Hybrid Cheetah Optimization with Intelligent Initial Configurations

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