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Macro Fiber Composite-Actuated Soft Robotic Fish: A Gray Box Model-Predictive Motion Planning Strategy Under Limited Actuation

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Autor(es):
Barbosa, Arthur Silva ; da Silva, Maira Martins
Número total de Autores: 2
Tipo de documento: Artigo Científico
Fonte: SOFT ROBOTICS; v. N/A, p. 11-pg., 2023-03-23.
Resumo

This work experimentally investigates a model-predictive motion planning strategy to impose oscillatory and undulation movements in a macro fiber composite (MFC)-actuated robotic fish. Most of the results in this field exploit sinusoidal input signals at the resonance frequency, which reduces the device's maneuverability. Differently, this work uses body/caudal fin locomotion patterns as references in a motion planning strategy formulated as a model-based predictive control (MPC) scheme. This open-loop scheme requires the modeling of the device, which is accomplished by deriving a gray box state-space model using experimental modal data. This state-space model considers the electromechanical coupling of the actuators. Based on the references and the model, the MPC scheme derives the input signals for the MFC actuators. An experimental campaign is carried out to verify two references for mimicking the locomotion patterns of a fish under limited actuation. The experimental results confirm the motion planning scheme's capability to impose oscillatory and undulation movements. (AU)

Processo FAPESP: 22/07119-2 - Melhorando a manobrabilidade de robôs macios aquáticos bioinspirados por meio de mecanismos multi-estáveis
Beneficiário:Maira Martins da Silva
Modalidade de apoio: Auxílio à Pesquisa - Regular
Processo FAPESP: 18/15894-0 - Projeto e otimização de estruturas periódicas para aprimoramento de desempenho vibroacústico
Beneficiário:Carlos de Marqui Junior
Modalidade de apoio: Auxílio à Pesquisa - Temático