ArticleBiomimetics (Basel, Switzerland)2025
Empirical Data-Driven Linear Model of a Swimming Robot Using the Complex Delay-Embedding DMD Technique.
Article in Biomimetics (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- Bio-Inspired Approaches-A Leverage for Robotics.Biomimetics (Basel, Switzerland) · 2025Article
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2 authors.
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Abstract
Anguilliform locomotion, an efficient aquatic locomotion mode where the whole body is engaged in fluid-body interaction, contains sophisticated physics. We hypothesized that data-driven modeling techniques may extract models or patterns of the swimmers' dynamics without implicitly measuring the hydrodynamic variables. This work proposes empirical kinematic control and data-driven modeling of a soft swimming robot. The robot comprises six serially connected segments that can individually bend with the segmental pneumatic artificial muscles. Kinematic equations and relations are proposed to measure the desired actuation to mimic anguilliform locomotion kinematics. The robot was tested experimentally and the position and velocities of spatially digitized points were collected using QualiSys
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