Project 55: Fabrication and Modeling of Underwater Bio-inspired Soft Robot
Contact Information:
Prof. Wang Hesheng
Email: wanghesheng@sjtu.edu.cn
Project Description and Objectives:
The project aims to explore the capacity of the soft robot in a specific underwater operating environment by learning the morphology and motion mode from the marine organisms. Bio-inspired soft robots have been gaining a lot of attention due to their optimal performance in specific environments stemming from their unique morphology and sensorimotor capabilities. The project intends to complete both fabrication and modeling work of the newly constructed soft robot. The students will first cooperate on mechanical design and select appropriate actuators to realize autonomous motion of the robot in an underwater environment. Thereafter, mathematical modeling work is required. Discrete and continuous modeling methods are alternative depending on the morphology and mechanism characteristics of the prototype. The contribution of control algorithm aims to realize specific control tasks such as positioning, tracking, and so forth. The lab provides diverse hardware facilities such as silicone molding tools, visual measuring system, optical motion capture system, etc. Students can also cooperate with our researchers who specialize in soft robotics.
Eligibility Requirements:
Basic knowledge SolidWorks and other modeling software.
Basic knowledge of MATLAB and C++.
Basic knowledge of robot modeling and control.
Main Tasks:
Complete design, fabrication and modeling of a soft robot.
Cross validate the performance of the prototype.
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