Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators.

ABSTRACT: Advances of soft robotics enabled better mimicking of biological creatures and closer realization of animals' motion in the robotics field. The biological creature's movement has morphology and flexibility that is problematic deportation to a bio-inspired robot. This paper aims to study the ability to mimic turtle motion using a soft pneumatic actuator (SPA) as a turtle flipper limb. SPA's behavior is simulated using finite element analysis to design turtle flipper at 22 different geometrical configurations, and the simulations are conducted on a large pressure range (0.11-0.4 Mpa). The simulation results are validated using vision feedback with respect to varying the air pillow orientation angle. Consequently, four SPAs with different inclination angles are selected to build a bio-mimetic

SUBMITTER: Soliman M 

PROVIDER: S-EPMC8187634 | biostudies-literature | 2021 Jun

REPOSITORIES: biostudies-literature