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Published in:
Straight Swimming Algorithm Used by a Design of Biomimetic Robotic Fish Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Mathematical Modeling to Improve Control of Mesh Body for Peristaltic Locomotion

Authors : Yifan Huang, Akhil Kandhari, Hillel J. Chiel, Roger D. Quinn, Kathryn A. Daltorio

Published in: Biomimetic and Biohybrid Systems

Publisher: Springer International Publishing

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Abstract

In this work, we built a kinematic simulation model for our worm robot, which does peristaltic locomotion. We studied the construction of our robot’s mesh-rhombus structure and the structural behavior in response to the actuator controls and simulated them in MATLAB. With some kinematic assumptions, we can model changes in body shape. Friction, gravity, internal forces are not directly modeled, however a single correction factor can be used to align the simulation and hardware progress. New control methods are found based on this model, which reduced the motion slip on the robot. In future work, this simulation can help us control and design future mesh-based robots.

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previous chapter Reducing Versatile Bat Wing Conformations to a 1-DoF Machine
next chapter Neuronal Distance Estimation by a Fly-Robot Interface
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Kandhari, A., Horchler, A.D., Zucker, G.S., Daltorio, K.A., Chiel, H.J., Quinn, R.D.: Sensing contact constraints in a worm-like robot by detecting load anomalies. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds.) Living Machines 2016. LNCS, vol. 9793, pp. 97–106. Springer, Cham (2016). doi:10.​1007/​978-3-319-42417-0_​10 CrossRef
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Mehringer, A.G., Kandhari, A., Chiel, H.J., Quinn, R.D., Daltorio, K.A.: An integrated compliant fabric skin softens, lightens, and simplifies a mesh robot. Living Machines (accepted) (2017)
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Kandhari, A., Huang, Y., Daltorio, K.A., Chiel, H.J., Quinn, R.D.: Longitudinal stiffness affects forward locomotion while circumferential stiffness affects turning in a soft bodied earthworm like robot (2017, in preparation)
Metadata
Title
Mathematical Modeling to Improve Control of Mesh Body for Peristaltic Locomotion
Authors
Yifan Huang
Akhil Kandhari
Hillel J. Chiel
Roger D. Quinn
Kathryn A. Daltorio
Copyright Year
2017
Book
Biomimetic and Biohybrid Systems

Print ISBN: 978-3-319-63536-1

Electronic ISBN: 978-3-319-63537-8

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-63537-8_17

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