Coupling Numerical Deformable Models in Global and Reduced Coordinates for the Simulation of the Direct and the Inverse Kinematics of Soft Robots

In this letter, we propose a method to combine the Finite Element Method (FEM) with Discrete Cosserat Modeling (DCM) to capture the mechanics and the actuation of soft robots. The FEM is used to simulate the non-linear behavior of the volume of the soft structure while the cable/rod used for the act...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 6; no. 2; pp. 3910 - 3917
Main Authors:	Adagolodjo, Yinoussa, Renda, Federico, Duriez, Christian
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Series:	IEEE Robotics and Automation Letters
Subjects:	Actuation Cables Computer Science Constraint modelling contact modeling control Coupling Deformable models Deformation Engineering Sciences Finite element analysis Finite element method Flexible robotics Formability grasping Inverse kinematics Kinematics learning for soft robots Mathematical analysis Mathematical model Mathematics modeling Numerical models Optimization Parameterization Physics Robot kinematics Robots simulation and animation soft robot applications Soft robotics Solid modeling Strain tendon/wire mechanism Tubes Flexible Robotics Tendon/Wire Mechanism Control and Learning for Soft Robots Grasping Soft Robot Applications Simulation and Animation Modeling Contact Modeling
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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