Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
| Autor: | Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Noel Naughton, Mattia Gazzola, Prashant G. Mehta |
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| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
FOS: Computer and information sciences
Computer Science - Robotics Biological Physics (physics.bio-ph) General Mathematics General Engineering FOS: Electrical engineering electronic engineering information engineering General Physics and Astronomy FOS: Physical sciences Systems and Control (eess.SY) Physics - Biological Physics Robotics (cs.RO) Electrical Engineering and Systems Science - Systems and Control |
| Popis: | Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In this article, we develop a three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation. Internal forces and couples exerted by all major muscle groups are considered. An energy-shaping control method is described to coordinate muscle activity so as to grasp and reach in three-dimensional space. Key contributions of this article are as follows: (i) modelling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group SE ( 3 ) . Muscle controls are then iteratively computed based on the co-state variable arising from the solution of the optimization problem. The approach is numerically demonstrated in the physically accurate software environment Elastica . Results of numerical experiments mimicking observed octopus behaviours are reported. |
| Databáze: | OpenAIRE |
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