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...

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Autores principales:	MennaAllah Soliman, Mostafa A. Mousa, Mahmood A. Saleh, Mahmoud Elsamanty, Ahmed G. Radwan
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/254aff3df6584e67b0b378e1abd6c37d
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spelling	oai:doaj.org-article:254aff3df6584e67b0b378e1abd6c37d2021-12-02T14:59:36ZModelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators10.1038/s41598-021-91136-z2045-2322https://doaj.org/article/254aff3df6584e67b0b378e1abd6c37d2021-06-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-91136-zhttps://doaj.org/toc/2045-2322Abstract 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 turtle, which is tested at two different driving configurations. The nonlinear dynamics of soft actuators, which is challenging to model the motion using traditional modeling techniques affect the turtle’s motion. Conclusively, according to kinematics behavior, the turtle motion path is modeled using the Echo State Network (ESN) method, one of the reservoir computing techniques. The ESN models the turtle path with respect to the actuators’ rotation motion angle with maximum root-mean-square error of $$1.04 \times 10^{-11}$$ 1.04 × 10 - 11 . The turtle is designed to enhance the robot interaction with living creatures by mimicking their limbs’ flexibility and the way of their motion.MennaAllah SolimanMostafa A. MousaMahmood A. SalehMahmoud ElsamantyAhmed G. RadwanNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-11 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q MennaAllah Soliman Mostafa A. Mousa Mahmood A. Saleh Mahmoud Elsamanty Ahmed G. Radwan Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
description	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 turtle, which is tested at two different driving configurations. The nonlinear dynamics of soft actuators, which is challenging to model the motion using traditional modeling techniques affect the turtle’s motion. Conclusively, according to kinematics behavior, the turtle motion path is modeled using the Echo State Network (ESN) method, one of the reservoir computing techniques. The ESN models the turtle path with respect to the actuators’ rotation motion angle with maximum root-mean-square error of $$1.04 \times 10^{-11}$$ 1.04 × 10 - 11 . The turtle is designed to enhance the robot interaction with living creatures by mimicking their limbs’ flexibility and the way of their motion.
format	article
author	MennaAllah Soliman Mostafa A. Mousa Mahmood A. Saleh Mahmoud Elsamanty Ahmed G. Radwan
author_facet	MennaAllah Soliman Mostafa A. Mousa Mahmood A. Saleh Mahmoud Elsamanty Ahmed G. Radwan
author_sort	MennaAllah Soliman
title	Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
title_short	Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
title_full	Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
title_fullStr	Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
title_full_unstemmed	Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
title_sort	modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/254aff3df6584e67b0b378e1abd6c37d
work_keys_str_mv	AT mennaallahsoliman modellingandimplementationofsoftbiomimeticturtleusingechostatenetworkandsoftpneumaticactuators AT mostafaamousa modellingandimplementationofsoftbiomimeticturtleusingechostatenetworkandsoftpneumaticactuators AT mahmoodasaleh modellingandimplementationofsoftbiomimeticturtleusingechostatenetworkandsoftpneumaticactuators AT mahmoudelsamanty modellingandimplementationofsoftbiomimeticturtleusingechostatenetworkandsoftpneumaticactuators AT ahmedgradwan modellingandimplementationofsoftbiomimeticturtleusingechostatenetworkandsoftpneumaticactuators
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Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators

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