植物启发生长机器人的动态建模和位置/力预测控制。

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2024-11-12 DOI:10.1088/1748-3190/ad8e25

Abdonoor Kalibala, Ayman A Nada, Hiroyuki Ishii, Haitham El-Hussieny

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引用次数: 0

摘要

本文介绍了利用欧拉-拉格朗日方法开发和控制受植物启发的生长机器人（称为 "藤蔓机器人"）的动态模型。藤蔓机器人独特的生长机制使其能够通过延伸身体在复杂环境中航行。我们推导出运动的动态方程，并采用模型预测控制（MPC）来调节任务空间的位置、方向和相互作用力。我们进行了仿真实验，以评估所提出的模型和控制策略的性能。结果表明，在静态和时变参考轨迹中，该模型都能有效实现亚毫米级的位置控制精度，而在力控制方面则能达到亚微牛顿级。

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Dynamic modelling and predictive position/force control of a plant-inspired growing robot.

This paper presents the development and control of a dynamic model for a plant-inspired growing robot, termed the 'vine-robot', using the Euler-Lagrangian method. The unique growth mechanism of the vine-robot enables it to navigate complex environments by extending its body. We derive the dynamic equations of motion and employ model predictive control to regulate the task space position, orientation, and interaction forces. Simulation experiments are conducted to evaluate the performance of the proposed model and control strategy. The results demonstrate that the model effectively achieves sub-millimeter precision in the position control in both static and time varying refrence trajectroies, and sub micronewton in force control.

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.