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2. Modeling for real time simulation of soft robots
To solve the kinematics of a soft robot, one need to describe the continuum deformation of its structure. In this work, we use a numerical representation of the robot with the finite element method (FEM). For a deep presentation of FEM the reader may refer to .
The simulation of a deformable object involves to describe its internal response to external forces. Let us start with the formulation given by the second law of Newton, that models the dynamic behavior of a body as:
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Modeling for real time simulation of soft robots
Inverse kinematics of soft robots
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
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