Empirical Data-Driven Linear Model of a Swimming Robot Using the Complex Delay-Embedding DMD Technique DOI Creative Commons
Mostafa Sayahkarajy, Hartmut Witte

Biomimetics, Journal Year: 2025, Volume and Issue: 10(1), P. 60 - 60

Published: Jan. 16, 2025

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 swimmers' dynamics without implicitly measuring hydrodynamic variables. This work proposes empirical kinematic control and a soft swimming robot. The robot comprises six serially connected segments can individually bend with segmental pneumatic artificial muscles. Kinematic equations relations are proposed to measure desired actuation mimic anguilliform kinematics. was tested experimentally position velocities spatially digitized points were collected using QualiSys® Tracking Manager (QTM) 1.6.0.1. data analyzed offline, proposing new complex variable delay-embedding dynamic decomposition (CDE DMD) algorithm combines state filtering time embedding linear approximate model. While experimental results exhibited exotic curves phase plane series, analysis showed extracts chaotic modes contributing data. It concluded be described by linearized model interrupted modes. technique successfully coherent from limited measurements linearizes system dynamics.

Language: Английский

Empirical Data-Driven Linear Model of a Swimming Robot Using the Complex Delay-Embedding DMD Technique DOI Creative Commons
Mostafa Sayahkarajy, Hartmut Witte

Biomimetics, Journal Year: 2025, Volume and Issue: 10(1), P. 60 - 60

Published: Jan. 16, 2025

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 swimmers' dynamics without implicitly measuring hydrodynamic variables. This work proposes empirical kinematic control and a soft swimming robot. The robot comprises six serially connected segments can individually bend with segmental pneumatic artificial muscles. Kinematic equations relations are proposed to measure desired actuation mimic anguilliform kinematics. was tested experimentally position velocities spatially digitized points were collected using QualiSys® Tracking Manager (QTM) 1.6.0.1. data analyzed offline, proposing new complex variable delay-embedding dynamic decomposition (CDE DMD) algorithm combines state filtering time embedding linear approximate model. While experimental results exhibited exotic curves phase plane series, analysis showed extracts chaotic modes contributing data. It concluded be described by linearized model interrupted modes. technique successfully coherent from limited measurements linearizes system dynamics.

Language: Английский

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