Soft robots modeling and design
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 exists 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.
We are actively developing an open-source toolkit for soft robot simulation withing the SOFA simulation framework.
Topics include:
- Shape generation for optimal design: Towards Optimal Shape Generation of Soft Robots
- Model order reduction for real-time FEM computation: Plugin website
Related papers & videos
Toward Shape Optimization of Soft Robots
T. Morzadec, D. Marchal, C. Duriez
to be presented at IEEE RoboSoft 2019, Pdf, Video
Fast, generic and reliable control and simulation of soft robots using model order reduction.
O. Goury, C. Duriez
IEEE Transactions on Robotics, 2018, Page, Video1, Video2
Real-time simulation of hydraulic components for interactive control of soft robots
A. Rodríguez, E. Coevoet and C. Duriez
IEEE International Conference on Robotics and Automation (ICRA), 2017, Pdf
Framework for online simulation of soft robots with optimization-based inverse model.
C. Duriez, E. Coevoet, F. Largilliere, T. Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt
IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, Pdf
Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras.
J. Bosman, T. Morales Bieze, O. Lakhal, M. Sanz-Lopes, R. Merzouki, C. Duriez.
EEE International Conference on Robotics and Automation (ICRA), 2015, Page, Pdf, Video
