Login | Register

Geometry-based Direct Simulation for Multi-Material Soft Robots


Geometry-based Direct Simulation for Multi-Material Soft Robots

Fang, Guoxin, Matte, Christopher-Denny ORCID: https://orcid.org/0000-0001-8218-295X, Kwok, Tsz-Ho ORCID: https://orcid.org/0000-0001-7240-1426 and Wang, Charlie C.L. (2018) Geometry-based Direct Simulation for Multi-Material Soft Robots. In: IEEE International Conference on Robotics and Automation, May 21-25, 2018, Brisbane, Australia.

[thumbnail of ICRA18.pdf]
Text (application/pdf)
Available under License Spectrum Terms of Access.

Official URL: http://dx.doi.org/10.1109/ICRA.2018.8461088


Robots fabricated by soft materials can provide higher flexibility and thus better safety while interacting with natural objects with low stiffness such as food and human beings. However, as many more degrees of freedom are introduced, the motion simulation of a soft robot becomes cumbersome, especially when large deformations are presented. Moreover, when the actuation is defined by geometry variation, it is not easy to obtain the exact loads and material properties to be used in the conventional methods of deformation simulation. In this paper, we present a direct approach to take the geometric actuation as input and compute the deformed shape of soft robots by numerical optimization using a geometry-based algorithm. By a simple calibration, the properties of multiple materials can be modeled geometrically in the framework. Numerical and experimental tests have been conducted to demonstrate the performance of our approach on both cable-driven and pneumatic actuators in soft robotics.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical, Industrial and Aerospace Engineering
Item Type:Conference or Workshop Item (Paper)
Authors:Fang, Guoxin and Matte, Christopher-Denny and Kwok, Tsz-Ho and Wang, Charlie C.L.
Digital Object Identifier (DOI):10.1109/ICRA.2018.8461088
ID Code:985958
Deposited By: Tsz Ho Kwok
Deposited On:11 Feb 2020 17:01
Last Modified:11 Feb 2020 17:01
Additional Information:© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Research related to the current document (at the CORE website)
- Research related to the current document (at the CORE website)
Back to top Back to top