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Morphologically induced stability on an underwater legged robot with a deformable body

Research output: Contribution to journalArticle

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Morphologically induced stability on an underwater legged robot with a deformable body. / Picardi , Giacomo; Hauser, Helmut; Laschi, Cecilia; Calisti, Marcello.

In: International Journal of Robotics Research (IJRR), 29.03.2019.

Research output: Contribution to journalArticle

Harvard

Picardi , G, Hauser, H, Laschi, C & Calisti, M 2019, 'Morphologically induced stability on an underwater legged robot with a deformable body', International Journal of Robotics Research (IJRR). https://doi.org/10.1177/0278364919840426

APA

Picardi , G., Hauser, H., Laschi, C., & Calisti, M. (2019). Morphologically induced stability on an underwater legged robot with a deformable body. International Journal of Robotics Research (IJRR). https://doi.org/10.1177/0278364919840426

Vancouver

Picardi G, Hauser H, Laschi C, Calisti M. Morphologically induced stability on an underwater legged robot with a deformable body. International Journal of Robotics Research (IJRR). 2019 Mar 29. https://doi.org/10.1177/0278364919840426

Author

Picardi , Giacomo ; Hauser, Helmut ; Laschi, Cecilia ; Calisti, Marcello. / Morphologically induced stability on an underwater legged robot with a deformable body. In: International Journal of Robotics Research (IJRR). 2019.

Bibtex

@article{05095ae2c9b149b9b9b01c83a5150b47,
title = "Morphologically induced stability on an underwater legged robot with a deformable body",
abstract = "For robots to navigate successfully in the real-world, unstructured environment adaptability is a prerequisite. While this is typically implemented within the control layer, there have been recent proposals of adaptation through a morphing of the body. However, the successful demonstration of this approach has mostly been theoretical and in simulations thus far. In this work we present an underwater hopping robot that features a deformable body implemented as adeployable structure which is covered by a soft skin for which it is possible to manually change the body size without altering any other property (e.g. buoyancy or weight). For such a system, we show that it is possible to induce a stable hopping behaviour instead of a fall, by just increasing the body size. We provide a mathematical model that describes the hopping behaviour of the robot under the influence of shape-dependent underwater contributions (drag, buoyancy and added mass) in order to analyse and compare the results obtained. Moreover, we show that for certain conditions, a stable hopping behaviour can only be obtained through changing the morphology of the robot as the controller (i.e. actuator) would already be working at maximum capacity. The presented work demonstrates that, through the exploitation of shape-dependent forces, the dynamics of a system can be modified through altering the morphology of the body to induce a desirable behaviour and, thus, a morphological change can be an effective alternative to the classic control.",
keywords = "morphological computation, soft robotics, deformable robot, legged locomotion, underwater robotics",
author = "Giacomo Picardi and Helmut Hauser and Cecilia Laschi and Marcello Calisti",
year = "2019",
month = "3",
day = "29",
doi = "10.1177/0278364919840426",
language = "English",
journal = "International Journal of Robotics Research (IJRR)",
issn = "1741-3176",
publisher = "SAGE Publications Inc.",

}

RIS - suitable for import to EndNote

TY - JOUR

T1 - Morphologically induced stability on an underwater legged robot with a deformable body

AU - Picardi , Giacomo

AU - Hauser, Helmut

AU - Laschi, Cecilia

AU - Calisti, Marcello

PY - 2019/3/29

Y1 - 2019/3/29

N2 - For robots to navigate successfully in the real-world, unstructured environment adaptability is a prerequisite. While this is typically implemented within the control layer, there have been recent proposals of adaptation through a morphing of the body. However, the successful demonstration of this approach has mostly been theoretical and in simulations thus far. In this work we present an underwater hopping robot that features a deformable body implemented as adeployable structure which is covered by a soft skin for which it is possible to manually change the body size without altering any other property (e.g. buoyancy or weight). For such a system, we show that it is possible to induce a stable hopping behaviour instead of a fall, by just increasing the body size. We provide a mathematical model that describes the hopping behaviour of the robot under the influence of shape-dependent underwater contributions (drag, buoyancy and added mass) in order to analyse and compare the results obtained. Moreover, we show that for certain conditions, a stable hopping behaviour can only be obtained through changing the morphology of the robot as the controller (i.e. actuator) would already be working at maximum capacity. The presented work demonstrates that, through the exploitation of shape-dependent forces, the dynamics of a system can be modified through altering the morphology of the body to induce a desirable behaviour and, thus, a morphological change can be an effective alternative to the classic control.

AB - For robots to navigate successfully in the real-world, unstructured environment adaptability is a prerequisite. While this is typically implemented within the control layer, there have been recent proposals of adaptation through a morphing of the body. However, the successful demonstration of this approach has mostly been theoretical and in simulations thus far. In this work we present an underwater hopping robot that features a deformable body implemented as adeployable structure which is covered by a soft skin for which it is possible to manually change the body size without altering any other property (e.g. buoyancy or weight). For such a system, we show that it is possible to induce a stable hopping behaviour instead of a fall, by just increasing the body size. We provide a mathematical model that describes the hopping behaviour of the robot under the influence of shape-dependent underwater contributions (drag, buoyancy and added mass) in order to analyse and compare the results obtained. Moreover, we show that for certain conditions, a stable hopping behaviour can only be obtained through changing the morphology of the robot as the controller (i.e. actuator) would already be working at maximum capacity. The presented work demonstrates that, through the exploitation of shape-dependent forces, the dynamics of a system can be modified through altering the morphology of the body to induce a desirable behaviour and, thus, a morphological change can be an effective alternative to the classic control.

KW - morphological computation

KW - soft robotics

KW - deformable robot

KW - legged locomotion

KW - underwater robotics

U2 - 10.1177/0278364919840426

DO - 10.1177/0278364919840426

M3 - Article

JO - International Journal of Robotics Research (IJRR)

JF - International Journal of Robotics Research (IJRR)

SN - 1741-3176

ER -