Soft robots modeling and simulation
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.
Related papers & videos:
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, Page, 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