{"title":"Soft robot fast simulation via reduced order extended position based dynamics","authors":"Haijun Peng, Na Li, Dianheng Jiang, Fei Li","doi":"10.1016/j.robot.2024.104650","DOIUrl":null,"url":null,"abstract":"<div><p>Simulating a soft robot model is challenging because of large deformations and lots of degrees of freedom. In this study, a novel fast simulation framework for soft robots is created using reduced order extended position-based dynamics technique. This framework is helpful for configuration design and motion verification. The soft robot model is built using strain constraints, and the reduced order matrix is created by linear modes and modal derivatives. It simplifies the creation of models and improves the efficiency of the reduced order matrix construction. To verify the feasibility of the present method, soft robots with various actuation and material combinations are simulated. The results also agree well with both the physical experiments and the finite element analysis.</p></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0921889024000332","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Simulating a soft robot model is challenging because of large deformations and lots of degrees of freedom. In this study, a novel fast simulation framework for soft robots is created using reduced order extended position-based dynamics technique. This framework is helpful for configuration design and motion verification. The soft robot model is built using strain constraints, and the reduced order matrix is created by linear modes and modal derivatives. It simplifies the creation of models and improves the efficiency of the reduced order matrix construction. To verify the feasibility of the present method, soft robots with various actuation and material combinations are simulated. The results also agree well with both the physical experiments and the finite element analysis.
期刊介绍：
Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems.
Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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