To solve the problem of embodied perception of underwater multi-joint soft robot

an embodied perception scheme is designed.Firstly

the flexible sensing scheme is selected and data acquisition chip is designed to integrate with the robot.The sensor calibration is completed by using MATLAB image processing technology combined with K-means clustering algorithm to obtain the curve of relationship between the single joint bending curvature and sensor data.The camera is used to verify the fitting effect of the curve and perform error analysis.Using this relationship curve and motion discretization scheme

the motion morphology of the robot is inverted

and the error analysis is performed on the actual bending shape and reference bending morphology.The results show that the relative error of curvature is 3.0693%

and the motion morphology error is 1.1537mm

proving the feasibility of this embodied perception scheme.