Framework for online simulation of soft robots with optimization-based inverse model

C. Duriez, E. Coevoet, F. Largilliere, T. Morales-Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt

Abstract

Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control. Until now, no unified software framework covering the different aspects exists. In this paper, we present such a framework from its theoretical foundations up to its implementation on top of SOFA, an open-source framework for deformable online simulation. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators or contacts using a unified representation based on Lagrange multipliers. It enables the digital robot to be simulated in its environ- ment using a direct model. The model can also be inverted online using an optimization-based method which allows to control the physical robots in the task space. To demonstrate the effectiveness of the approach, we present various soft robots scenarios including ones where the robot is interacting with its environment. The software is freely available from https://project.inria.fr/softrobot/

Paper

19th IEEE International Conference on Simulation, Modeling, and
Programming for Autonomous Robots, 2016, Pdf

@INPROCEEDINGS{7862384,
author={C. Duriez and E. Coevoet and F. Largilliere and T. Morales-Bieze and Z. Zhang and M. Sanz-Lopez and B. Carrez and D. Marchal and O. Goury and J. Dequidt},
booktitle={2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
title={Framework for online simulation of soft robots with optimization-based inverse model},
year={2016},
pages={111-118},
doi={10.1109/SIMPAR.2016.7862384},}

Video