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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...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2022
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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. |
format | Online Article Text |
id | pubmed-9065362 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
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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