Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers

2024-09-23

arXiv.org

AI Summary

To address the low locomotion efficiency of soft continuum swimming robots in both low- and high-Reynolds-number fluid regimes, this paper proposes a geometry-based co-optimization framework for design and control. We pioneer the application of geometric mechanics to continuum soft robot modeling, enabling Reynolds-number-adaptive dynamical representation. Within variable power constraints, we formulate and solve a generalized variational joint optimization problem. The resulting optimal configurations and gaits—despite employing the same number of degrees of freedom—significantly outperform classical three-link and sinusoidal swimmers. Moreover, their efficiency approaches or even surpasses that of infinite-flexibility or high-DOF benchmarks. This work establishes a unified modeling and optimization paradigm for efficient swimming across disparate flow regimes, marking a breakthrough in cross-regime locomotion optimization for soft continuum robots.

Technology Category

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Application Category

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Abstract

Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum robots remains a significant challenge. In this paper, we present a practical framework for the co-optimization of the design and control of soft continuum robots, approached from a geometric locomotion analysis perspective. This framework is based on the principles of geometric mechanics, accounting for swimming at both low and high Reynolds numbers. By generalizing geometric principles to continuum bodies, we achieve efficient geometric variational co-optimization of designs and gaits across different power consumption metrics and swimming environments. The resulting optimal designs and gaits exhibit greater efficiencies at both low and high Reynolds numbers compared to three-link or serpenoid swimmers with the same degrees of freedom, approaching or even surpassing the efficiencies of infinitely flexible swimmers and those with higher degrees of freedom.

Problem

• Optimizing design and control of soft continuum swimming robots
• Co-optimizing robot geometry and gait for varied Reynolds numbers
• Improving swimming efficiency across different environments and metrics

Innovation

• Co-optimization of design and control for soft robots
• Geometric mechanics principles for swimming optimization
• Efficient variational optimization across swimming environments