Control algorithms

Control algorithms

Objectives:

Soft robotics is bringing a new view to robot design: future robots will no longer be rigid but made of complex deformable structures, composed of stiff and soft regions, close to the organic materials that we can find in nature. Such deformable robots bring interesting outcomes but their design is complex and very few tools exist to help soft roboticists in this task. The reason is that the behavior of soft robots needs to be modeled and simulated with deformable mechanics that are much more computationally demanding than rigid body simulation. In our team, we are developing a theoretical framework for modeling based on finite element modeling and the associated software for real-time simulation of the soft robot modeled.

Related papers & videos:

Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method
Z. Zhang, J. Dequidt, A. Kruszewski, F. Largilliere and C. Duriez
EEE International Conference on Intelligent Robots and Systems (IROS), 2016, Page, Pdf

 

Real-time Control of Soft-Robots using Asynchronous Finite Element Modeling.
F. Largilliere, V. Verona, E. Coevoet, M. Sanz-Lopez, J. Dequidt and C. Duriez.
EEE International Conference on Robotics and Automation (ICRA), 2015, PagePdf

 

controlControl of Elastic Soft Robots based on Real-Time Finite Element Method.
C. Duriez
EEE International Conference on Robotics and Automation (ICRA), 2013, PagePdf

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