Topology, dynamics, and control of a muscle-architected soft arm

• 成果类型: Article
• 署名作者: Tekinalp, Arman; Naughton, Noel; Kim, Seung Hyun; Halder, Udit; Gillette, Rhanor; Mehta, Prashant G.; Kier, William; Gazzola, Mattia
• 署名单位: Virginia Polytechnic Institute & State University; State University System of Florida; University of South Florida; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign; University of North Carolina; University of North Carolina Chapel Hill; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
• 刊物名称: PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
• ISSN/ISSBN: 0027-11338
• DOI: 10.1073/pnas.2318769121
• 发表日期: 2024-10-01
• 关键词: octopus arm; MODEL; DESIGN; tongue; biomechanics; simulation; tentacles; vulgaris; cephalopoda; musculature

摘要

Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the architecture into which muscle fibers are weaved. Their arrangement is, effectively, the instantiation of a sophisticated mechanical program that mediates, and likely facilitates, the control and realization of complex, dynamic morphological reconfigurations. Here, by combining medical imaging, biomechanical data, live behavioral experiments, and numerical simulations, an octopus-inspired arm made of similar to 200 continuous muscle groups is synthesized, exposing mechanically intelligent design and control principles broadly pertinent to dynamics and robotics. Such principles are mathematically understood in terms of storage, transport, and conversion of topological quantities, effected into complex 3D motions via simple muscle activation templates. These are in turn composed into higher-level control strategies that, compounded by the arm's compliance, are demonstrated across challenging manipulation tasks, revealing surprising simplicity and robustness.