论文标题
创建模块化软机器人鱼测试平台
Creation of a Modular Soft Robotic Fish Testing Platform
论文作者
论文摘要
关于软机器人设计和控制的合作性的研究需要快速的现实验证方法。现有的创建管道不允许迅速的软机器人原型制作快速测试各种设计配置和控制策略。这项工作提出了一条管道，用于快速迭代设计和制造微型模块化硅胶基于机器人鱼的管道。模块化设计允许使用各种配置的机器人鱼类进行简单而快速的迭代，以帮助当前的设计优化方法开发研究工作。提出的机器人鱼可以用作标准化的测试平台，在该平台上可以评估诸如推力和运动范围之类的性能指标。我们进一步显示了能够测量输入压力，尾巴变形和推力的水下评估设置的设计。多种机器人鱼原型具有不同的刚度和内部气动腔室构型的构造和实验评估。提出的机器人的灵活模块化设计原理及其评估平台解锁了更有效的软机器人鱼的可能性，将来将使对设计优化和水下探索的研究受益。
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design configurations and control policies. This work proposes a pipeline for rapid iterative design and fabrication of a miniaturized modular silicone-elastomer-based robotic fish. The modular design allows simple and rapid iterations of robotic fishes with varying configurations to assist current research efforts on the development of design optimization methods. The proposed robotic fish can serve as a standardized test platform on which performance metrics such as thrust and range of motion can be evaluated. We further show the design of an underwater evaluation setup capable of measuring input pressure, tail deformation, and thrust. Multiple robotic fish prototypes with varying stiffness and internal pneumatic chamber configurations are fabricated and experimentally evaluated. The presented flexible modular design principle for the robot and its evaluation platform unlocks the possibilities of more efficient soft robotic fish and will benefit research on design optimization and underwater exploration in the future.
