Name
Abstract | ||
|---|---|---|
AbstractA 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. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1177/0278364918769992 | Periodicals |
Keywords | Field | DocType |
Soft robotics, bio-inspired robotics, marine robotics, dynamics | A priori and a posteriori,Soft robotics,Control engineering,Underwater robot,Bio-inspired robotics,Formalism (philosophy),Robot,Aquatic locomotion,Mathematics,Underwater | Journal |
Volume | Issue | ISSN |
37 | 6 | 0278-3649 |
Citations | PageRank | References |
1 | 0.38 | 10 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Federico Renda | 1 | 100 | 14.27 |
| Francesco Giorgio Serchi | 2 | 13 | 5.17 |
| Frédéric Boyer | 3 | 111 | 19.94 |
| Cecilia Laschi | 4 | 681 | 99.92 |
| Jorge Dias | 5 | 175 | 33.83 |
| Lakmal D. Seneviratne | 6 | 577 | 70.91 |