Reduced-order modeling of soft robots

Jean Chenevier, David González, J Vicente Aguado, Francisco Chinesta and Elías Cueto

PLOS ONE, 2018, vol. 13, issue 2, 1-15

Abstract: We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method.

Date: 2018
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Persistent link: https://EconPapers.repec.org/RePEc:plo:pone00:0192052

DOI: 10.1371/journal.pone.0192052

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