A material-based model for the simulation and control of soft robot actuator

Lekakou, C., Mustaza, S.M., Crisp, T. , Elsayed, Y. and Saaj, Mini (2017) A material-based model for the simulation and control of soft robot actuator. In: Annual Conference Towards Autonomous Robotic Systems, 19-21 July 2017, Guilford, UK.

Full content URL: https://doi.org/10.1007/978-3-319-64107-2_45

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

An innovative material-based model is described for a three-pneumatic channel, soft robot actuator and implemented in simulations and control. Two types of material models are investigated: a soft, hyperelastic material model and a novel visco-hyperelastic material model are presented and evaluated in simulations of one-channel operation. The advanced visco-hyperelastic model is further demonstrated in control under multi-channel actuation. Finally, a soft linear elastic material model was used in finite element analysis of the soft three-pneumatic channel actuator within SOFA, moving inside a pipe and interacting with its rigid wall or with a soft hemispherical object attached to that wall. A collision model was used for these interactions and the simulations yielded “virtual haptic” 3d-force profiles at monitored nodes at the free- and fixed-end of the actuator.

Additional Information:cited By 1
Keywords:material-based model, soft robot actuator
Divisions:College of Science > School of Engineering
ID Code:37437
Deposited On:07 Oct 2019 11:58

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