Simulation Technology for Soft Robotics Applications

Roßmann, Jürgen; Schluse, Michael; Rast, Malte; Kaigom, Eric Guiffo; Cichon, Torben

doi:10.1007/978-3-662-44506-8_10

Cited by 3 publications

(1 citation statement)

References 19 publications

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“…In [ 13 ], for instance, FEM is employed to characterize an octopus-like soft robot guided by cables and springs. This concept is further generalized in [ 14 ] to coin the concept of eRobotics , i.e., a virtual testbed for the design, modeling and simulation-based control of soft robots.…”

Section: Related Workmentioning

confidence: 99%

Reduced-order modeling of soft robots

et al. 2018

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We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method.

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Section: Related Workmentioning

confidence: 99%

Reduced-order modeling of soft robots

et al. 2018

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Towards Flexible Manipulation with Wiring-Base Robot Hand

Nguyen

Bohra

Han

et al. 2023

Lecture Notes in Networks and Systems

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Dynamic Finite Element Modeling and Simulation of Soft Robots

Ding

Niu

et al. 2022

Chin. J. Mech. Eng.

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Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level. An increasing number of researchers are interested in their designing, manufacturing, modeling, and control. However, the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric structures. In this study, a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots. Various actuators for soft robots are modeled in a virtual environment, including soft cable-driven, spring actuation, and pneumatic driving. A pneumatic driving simulation was demonstrated by the bending modules with different materials. A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model, and the experimental results demonstrated adequate accuracy. The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots, including hybrid actuated robots and rigid-flexible coupling robots. This study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment.

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Simulation Technology for Soft Robotics Applications

Cited by 3 publications

References 19 publications

Reduced-order modeling of soft robots

Reduced-order modeling of soft robots

Towards Flexible Manipulation with Wiring-Base Robot Hand

Dynamic Finite Element Modeling and Simulation of Soft Robots

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