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

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Standard

A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. / Gasoto, Renato; Macklin, Miles; Liu, Xuan; Sun, Yinan; Erleben, Kenny; Onal, Cagdas; Fu, Jie.

2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. p. 6272-6279.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Harvard

Gasoto, R, Macklin, M, Liu, X, Sun, Y, Erleben, K, Onal, C & Fu, J 2019, A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. in 2019 International Conference on Robotics and Automation (ICRA). IEEE, pp. 6272-6279, 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20/05/2019. https://doi.org/10.1109/ICRA.2019.8794375

APA

Gasoto, R., Macklin, M., Liu, X., Sun, Y., Erleben, K., Onal, C., & Fu, J. (2019). A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. In 2019 International Conference on Robotics and Automation (ICRA) (pp. 6272-6279). IEEE. https://doi.org/10.1109/ICRA.2019.8794375

Vancouver

Gasoto R, Macklin M, Liu X, Sun Y, Erleben K, Onal C et al. A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. In 2019 International Conference on Robotics and Automation (ICRA). IEEE. 2019. p. 6272-6279 https://doi.org/10.1109/ICRA.2019.8794375

Author

Gasoto, Renato ; Macklin, Miles ; Liu, Xuan ; Sun, Yinan ; Erleben, Kenny ; Onal, Cagdas ; Fu, Jie. / A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. pp. 6272-6279

Bibtex

@inproceedings{c6df924f05a44ea88aea79dbddaa90fa,
title = "A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes",
abstract = "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.",
author = "Renato Gasoto and Miles Macklin and Xuan Liu and Yinan Sun and Kenny Erleben and Cagdas Onal and Jie Fu",
year = "2019",
doi = "10.1109/ICRA.2019.8794375",
language = "English",
pages = "6272--6279",
booktitle = "2019 International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
note = "2019 International Conference on Robotics and Automation (ICRA) ; Conference date: 20-05-2019 Through 24-05-2019",

}

RIS

TY - GEN

T1 - A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes

AU - Gasoto, Renato

AU - Macklin, Miles

AU - Liu, Xuan

AU - Sun, Yinan

AU - Erleben, Kenny

AU - Onal, Cagdas

AU - Fu, Jie

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

U2 - 10.1109/ICRA.2019.8794375

DO - 10.1109/ICRA.2019.8794375

M3 - Article in proceedings

SP - 6272

EP - 6279

BT - 2019 International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2019 International Conference on Robotics and Automation (ICRA)

Y2 - 20 May 2019 through 24 May 2019

ER -

ID: 228449841