Overview
![](/assets/images/picto-drapeau-france-3a76576a5d60a512053b4612ab58dae5.png)
ABSTRACT
In opposition to traditional rigid robots, soft robots are built from highly compliant materials, which makes them safe for manipulating/interacting with sensitive environment. The field of soft robotics brings new challenges, in particular for modeling and control. Within this document we detail the methods we propose to answer them. The methods are based on the finite element method to capture the deformations of the robot’s structure, and of its environment when deformable, and we formulate the problem of their inverse kinematics as an optimization program. The methods are tested on different case studies, in simulation, as well as on a real robot.
Read this article from a comprehensive knowledge base, updated and supplemented with articles reviewed by scientific committees.
Read the articleAUTHOR
-
Eulalie COEVOET: Ingenieure R&D - Universite Lille, Inria, CNRS, Centrale Lille, France
INTRODUCTION
Soft robotics is a very recent and active field where researchers are actively exploring robots designs and their usages. Soft robotics draws its inspiration from nature, from the way living organisms move and adapt their shape to their environment. The use of soft materials allow these robots to accomplish tasks with more flexibility and adaptability.
Solving the inverse kinematics of a soft robot can not be achieved directly from standard methods used in traditional robotics. The main reason is related to the motion of soft robots obtained through deformation of the structure rather than by articulations. Therefore, the behavior of soft robots should be modeled using deformable mechanics. The use of continuum mechanics raises several issues. No analytic solution exists in the general case and numerical methods, typically the finite element method, have to be used.
In addition, due to their natural compliance, soft robots are often used in contact with their environment. Yet, their kinematics is highly dependent on external factors, which increases the complexity of solving their inverse kinematics.
In this document we detail methods we propose for the modeling of a wild range of soft robots, and methods for solving their inverse kinematics. The methods are based on the finite element method to capture the deformations of the robot’s structure, and of its environment when deformable. We formulate the problem of their inverse kinematics as an optimization program, allowing easy handling of constraints on actuation and singularity problems. These methods we propose also include contacts into the optimization process.
We give a particular attention to provide solutions with real-time performance, allowing online control in evolving environments.
Exclusive to subscribers. 97% yet to be discovered!
You do not have access to this resource.
Click here to request your free trial access!
Already subscribed? Log in!
![](/assets/images/logo-eti-286623ed91fa802ce039246e516e5852.png)
The Ultimate Scientific and Technical Reference
KEYWORDS
contact | Soft robot | Inverse kinematics | Optimization
This article is included in
Robotics
This offer includes:
Knowledge Base
Updated and enriched with articles validated by our scientific committees
Services
A set of exclusive tools to complement the resources
Practical Path
Operational and didactic, to guarantee the acquisition of transversal skills
Doc & Quiz
Interactive articles with quizzes, for constructive reading
Inverse kinematics of soft robots in their environment
Bibliographic sources
Websites
SOFA Framework
https://www.sofa-framework.org/
Accessed January 1, 2021
SoftRobots plugin for SOFA
https://wwwproject.inria.fr/softrobot/
Accessed January 1, 2021
...
Exclusive to subscribers. 97% yet to be discovered!
You do not have access to this resource.
Click here to request your free trial access!
Already subscribed? Log in!
![](/assets/images/logo-eti-286623ed91fa802ce039246e516e5852.png)
The Ultimate Scientific and Technical Reference