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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Bibliographic Details
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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Summary: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.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2022.3231360