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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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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
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author Wu, Qiuxuan
Wu, Yan
Yang, Xiaochen
Zhang, Botao
Wang, Jian
Chepinskiy, Sergey A
Zhilenkov, Anton A
author_facet Wu, Qiuxuan
Wu, Yan
Yang, Xiaochen
Zhang, Botao
Wang, Jian
Chepinskiy, Sergey A
Zhilenkov, Anton A
author_sort Wu, Qiuxuan
collection PubMed
description 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.
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spelling pubmed-90653622022-05-04 Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus Wu, Qiuxuan Wu, Yan Yang, Xiaochen Zhang, Botao Wang, Jian Chepinskiy, Sergey A Zhilenkov, Anton A Front Robot AI Robotics and AI 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. Frontiers Media S.A. 2022-04-20 /pmc/articles/PMC9065362/ /pubmed/35516788 http://dx.doi.org/10.3389/frobt.2022.815435 Text en Copyright © 2022 Wu, Wu, Yang, Zhang, Wang, Chepinskiy and Zhilenkov. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Wu, Qiuxuan
Wu, Yan
Yang, Xiaochen
Zhang, Botao
Wang, Jian
Chepinskiy, Sergey A
Zhilenkov, Anton A
Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
title Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
title_full Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
title_fullStr Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
title_full_unstemmed Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
title_short Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus
title_sort bipedal walking of underwater soft robot based on data-driven model inspired by octopus
topic Robotics and AI
url 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
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