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.

翻译：本文介绍了软体 Lamprey 启发式双环境机器人 (SLIDER) 及其设计与优化所采用的建模与优化流程。我们利用 Lighthill 的大振幅细长体理论，描述了主要的流体环境作用——惯性效应、涡旋力和粘性耗散。针对内部压力、尾部尺寸和身体刚度等结构设计参数，我们开发并验证了一种快速的几何与材料非线性模型。流体-结构相互作用方程通过高效的二阶箱式方法隐式求解。采用气动歧管机器人系统驱动 SLIDER 在静水槽环境中运动，实现了计算结果与实验结果的交叉对比。我们发现，低频游泳主要受阻力环境力支配，而高频游泳则主要受惯性流体力影响。利用该高效模型与遗传算法，我们联合优化了游泳控制模式与尾鳍设计（受限于 SLIDER 的攀爬形态），实现了 21.7 ± 0.4 cm/s（0.59 体长/秒）的系绳游泳速度。此外，我们还研究了执行游泳与攀爬双重任务的多模态机器人的优化流程。