Environment & Simulation

Soft robots interacting with their environment

 

 

Objectives

One specificity of soft robots is their ability to be compliant when interacting with their environment. While the control of rigid robots assumes that the robot will operate in a collision-free environment, deformable robots could take advantage of the contacts with their environment to perform a task. For instance, the snake relies on body contact and anisotropic friction in order to move itself on many surfaces. Correct and fast simulation of soft robot interacting with its, possibly soft, environment is a major challenge we are working on.

Correctly modeling and simulating soft robots interactions is crucial to the development of surgical soft robotics where the robots is interacting with the patients.

 

Related papers & videos

 

Optimization-Based Inverse Model of Soft Robots With Contact Handling
E. Coevoet, A. Escande and C. Duriez
IEEE Robotics and Automation Letters (RA-Letter), 2017, PagePdf, Video

 

Implant insertionNumerical Simulation of Cochlear-Implant Surgery: Towards Patient-Specific Planning.
O. Goury, Y. Nguyen, R. Torres, J. Dequidt and C. Duriez
19th International Conference on Medical Image Computing and Medical Asserted Intervention (MICCAI), 2016, PagePdf, Video

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