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Modeling and Control of an Eel-Inspired Soft Robot for Design Optimization — arXiv:2608.14860

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.14860
License (as archived): CC0-1.0
Archived: 2026-10-18T23:03:31.601Z
SHA-256 of the archived text: b7c9395be54d7f3869f1c8e638a0d5bad4322eda5cba68d949970206515fd0c4
Stable URL of this page: https://metraipolis.com/documento/dc_c02c1affc8a8

How to cite

Modeling and Control of an Eel-Inspired Soft Robot for Design Optimization — arXiv:2608.14860 — arXiv (en), https://arxiv.org/abs/2608.14860 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_c02c1affc8a8 (Metraipolis archive dc_c02c1affc8a8, sha256 b7c9395be54d7f3869f1c8e638a0d5bad4322eda5cba68d949970206515fd0c4)

BibTeX

@misc{dcc02c1affc8a8,
  title = {Modeling and Control of an Eel-Inspired Soft Robot for Design Optimization — arXiv:2608.14860},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.14860},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_c02c1affc8a8; sha256 b7c9395be54d7f3869f1c8e638a0d5bad4322eda5cba68d949970206515fd0c4},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.14860. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Anguilliform locomotion is a highly efficient swimming mode; the advent of new materials for soft robots enables the development of an eel-inspired soft robot. This paper presents a simulation model of an eel-inspired soft robot designed for anguilliform swimming. This model can aid in design optimization and the development of model-based estimation, reasoning, and control systems. A Finite Element Method (FEM) model of an elastic rod is used to capture the soft materials of the robotic fish, which makes it particularly amenable to variation over time as the material properties change. The material model is coupled with a hydrodynamic force model to simulate the behavior of a soft, elongated robot in water. The model is used to demonstrate the effectiveness of the proposed control approaches in achieving desired swimming behaviors. It also provides insights into design decisions, including the robustness of different system configurations and the impact of material degradation and failure. The results show that slightly asymmetric designs are advantageous, offering comparable swimming velocities but greater maneuverability. This model can be used to guide future robotic design decisions aimed at optimizing performance for specific tasks.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-18 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.14860 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T23:01:50.336Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-18?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).