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Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tenta...

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Detalles Bibliográficos
Autores principales: Wu, Qiuxuan, Wu, Yan, Yang, Xiaochen, Zhang, Botao, Wang, Jian, Chepinskiy, Sergey A, Zhilenkov, Anton A
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9065362/
https://www.ncbi.nlm.nih.gov/pubmed/35516788
http://dx.doi.org/10.3389/frobt.2022.815435
Descripción
Sumario:The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.