Presentation

Demonstration of real-time control of a soft robot through FEM simulation

The DEFROST project is grouping people working on designing, controlling and fabricating soft robots.

Our Vision Future robots don’t need to be «rigid» but made of complex deformable structures, composed of stiff and soft regions, close to organic materials that we can find in the nature. Soft robotics opens very attractive perspectives in terms of new applications, reduction of manufacturing costs, robustness, efficiency and security. It could constitute a great jump in robotics in the following years.

The challenge The biggest obstacle to make this possible is that the current methods to design and control don’t work for deformable ones and new approaches have to be invented. To overcome this obstacle we work on a novel approach that integrates a real-time model of both the robot deformations and its interaction into the control loop of the soft robots. This is where the challenge begins…


DEFROST TOPICS


PneuNets_1 sofia Robot mou, en silicone, animé via câbles et servo-moteur. Les déformations du robot sont modélisées en temps réel selon la méthode des éléments finis (FEM model). À l'écran : simulation numérique par maillage tétraédrique du robot déformable. Les robots souples offrent l'avantage d'être moins fragiles que les robots rigides et ont une amplitude d'intervention plus grande. La souplesse des instruments chirurgicaux est également un atout dans la recherche d'une intervention moins invasive pour le patient.
Soft Robot Modeling and Simulation Interaction with soft environments Control algorithms Surgical simulation