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Reduced-order modeling of soft robots

Author

Listed:
  • Jean Chenevier
  • David González
  • J Vicente Aguado
  • Francisco Chinesta
  • Elías Cueto

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.

Suggested Citation

  • Jean Chenevier & David González & J Vicente Aguado & Francisco Chinesta & Elías Cueto, 2018. "Reduced-order modeling of soft robots," PLOS ONE, Public Library of Science, vol. 13(2), pages 1-15, February.
    • Handle: RePEc:plo:pone00:0192052
    DOI: 10.1371/journal.pone.0192052
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    References listed on IDEAS

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    1. Daniela Rus & Michael T. Tolley, 2015. "Design, fabrication and control of soft robots," Nature, Nature, vol. 521(7553), pages 467-475, May.
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