Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications

• URL: http://arxiv.org/abs/2606.11278v1
• Date: Tue, 09 Jun 2026 11:54:44 GMT
• Title: Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications
• Abstract summary: We represent the primary fluid environment actions using Lighthill's theory for large-amplitude elongated bodies.<n>A pneumatic manifold robotic system is employed to actuate SLIDER in a quiescent water tank environment.<n>We find that low-frequency swimming is dominated by resistant environmental forces, whereas higher-frequency swimming is primarily affected by inertial fluid forces.
• Score: 1.4962440253906657
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In this paper, we introduce the Soft Lamprey-Inspired Dual Environment Robot (SLIDER) and a proper modeling and optimization procedure employed to design the robot. We represent the primary fluid environment actions - inertial effects, vortex forces, and viscous dissipation - using Lighthill's theory for large-amplitude elongated bodies. For structural design parameters such as internal pressure, tail size, and body stiffness, a fast, geometrically and materially nonlinear model is developed and validated. The fluid-structure interaction equations are solved implicitly with an efficient second-order box method. A pneumatic manifold robotic system is employed to actuate SLIDER in a quiescent water tank environment, allowing cross-comparison of computational and experimental results. We find that low-frequency swimming is dominated by resistant environmental forces, whereas higher-frequency swimming is primarily affected by inertial fluid forces. Using our efficient model alongside a genetic algorithm, we co-optimize a swimming control pattern and caudal fin design (subject to SLIDER's climbing morphology) to achieve a tethered swimming speed of 21.7 +/- 0.4 cm/s (0.59 Bl/s). Furthermore, we investigate the optimization procedure for a multimodal robot performing both swimming and climbing tasks.

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