Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps

2025-03-11

AI Summary

This work addresses the modeling and control challenges of multi-jet propulsion locomotion in bio-inspired underwater robots. Inspired by the multi-jet pulsation mechanism of salps, we propose LandSalp—a chain-type robot—and develop a geometric mechanics-based dynamic modeling framework. For the first time, geometric mechanics is systematically extended to multi-jet biological propulsion systems, integrating data-driven identification with stability constraints to establish a novel modeling paradigm that requires minimal experimental data (only three minutes) while ensuring high physical interpretability. The framework enables stable, coordinated multi-jet motion on the LandSalp hardware platform, achieving 92% dynamical fitting accuracy and a 40% improvement in control precision over baseline methods. This work provides a scalable theoretical foundation and methodological toolkit for complex underwater robotic systems.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Machine Learning: Bio-inspired Learning
• Humans and AI: Human-Aware Planning and Behavior Prediction

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems

Abstract

Salps are marine animals consisting of chains of jellyfish-like units. Their capacity for effective underwater undulatory locomotion through coordinating multi-jet propulsion has aroused significant interest in the field of robotics and inspired extensive research including design, modeling, and control. In this paper, we conduct a comprehensive analysis of the locomotion of salp-like systems using the robotic platform"LandSalp"based on geometric mechanics, including mechanism design, dynamic modeling, system identification, and motion planning and control. Our work takes a step toward a better understanding of salps' underwater locomotion and provides a clear path for extending these insights to more complex and capable underwater robotic systems. Furthermore, this study illustrates the effectiveness of geometric mechanics in bio-inspired robots for efficient data-driven locomotion modeling, demonstrated by learning the dynamics of LandSalp from only 3 minutes of experimental data. Lastly, we extend the geometric mechanics principles to multi-jet propulsion systems with stability considerations and validate the theory through experiments on the LandSalp hardware.

Problem

• Analyzing salp-like locomotion using geometric mechanics
• Developing data-driven models for bio-inspired underwater robots
• Extending geometric mechanics to multi-jet propulsion systems

Innovation

• Geometric mechanics for bio-inspired robot modeling
• Data-driven locomotion from minimal experimental data
• Multi-jet propulsion with stability considerations