A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes

Publikation: Bidrag til bog/antologi/rapportKonferencebidrag i proceedingsForskningfagfællebedømt

In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback.
OriginalsprogEngelsk
Titel2019 International Conference on Robotics and Automation (ICRA)
ForlagIEEE
Publikationsdato2019
Sider6272-6279
ISBN (Elektronisk)978-1-5386-6027-0
DOI
StatusUdgivet - 2019
Begivenhed2019 International Conference on Robotics and Automation (ICRA) - Palais des congres de Montreal, Montreal, Canada
Varighed: 20 maj 201924 maj 2019

Konference

Konference2019 International Conference on Robotics and Automation (ICRA)
LokationPalais des congres de Montreal
LandCanada
ByMontreal
Periode20/05/201924/05/2019

ID: 228449841