Reduced-order modeling of soft robots

PloS One
Jean ChenevierE Cueto

Abstract

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.

References

Nov 30, 2011·Proceedings of the National Academy of Sciences of the United States of America·Robert F ShepherdGeorge M Whitesides
May 29, 2015·Nature·Daniela Rus, Michael T Tolley

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Citations

May 22, 2019·Soft Robotics·Nathaniel N GoldbergWilliam L Scott
May 8, 2020·Nature Communications·Weicheng HuangM Khalid Jawed

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Software Mentioned

Matlab
TakkTile

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