Soft Robots Modeling: A Structured Overview

The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scient...

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Published in:	IEEE transactions on robotics Vol. 39; no. 3; pp. 1728 - 1748
Main Authors:	Armanini, Costanza, Boyer, Frederic, Mathew, Anup Teejo, Duriez, Christian, Renda, Federico
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.06.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	and learning for soft robots Computational mechanics Computer graphics Computer Science Continuum mechanics control Dynamics flexible robots kinematics Mathematical models modeling Numerical methods Robot kinematics Robotics Robots Soft robotics Solid modeling Strain Stress Tensors Robotics (cs.RO) FOS: Computer and information sciences
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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Abstract	The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics, and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.
AbstractList	The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics, and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.
Author	Renda, Federico Armanini, Costanza Boyer, Frederic Mathew, Anup Teejo Duriez, Christian
Author_xml	– sequence: 1 givenname: Costanza orcidid: 0000-0002-8055-6257 surname: Armanini fullname: Armanini, Costanza email: costanza.armanini@ku.ac.ae organization: Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE – sequence: 2 givenname: Frederic surname: Boyer fullname: Boyer, Frederic email: frederic.boyer@imt-atlantique.fr organization: LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France – sequence: 3 givenname: Anup Teejo orcidid: 0000-0003-4022-7501 surname: Mathew fullname: Mathew, Anup Teejo email: anup.mathew@ku.ac.ae organization: Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE – sequence: 4 givenname: Christian orcidid: 0000-0001-6030-7117 surname: Duriez fullname: Duriez, Christian email: christian.duriez@inria.fr organization: Inria, CNRS, Centrale Lille, Team DEFROST, University Lille, Lille, France – sequence: 5 givenname: Federico orcidid: 0000-0002-1833-9809 surname: Renda fullname: Renda, Federico email: federico.renda@ku.ac.ae organization: Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE
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Snippet	The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices....
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SubjectTerms	and learning for soft robots Computational mechanics Computer graphics Computer Science Continuum mechanics control Dynamics flexible robots kinematics Mathematical models modeling Numerical methods Robot kinematics Robotics Robots Soft robotics Solid modeling Strain Stress Tensors
Title	Soft Robots Modeling: A Structured Overview
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