Titre :

Towards Real-Time Simulation of Soft Robots with Contacts using a Method of Hybrid Hyper-Reduction

Auteur(s) :

Goury, Olivier [Auteur]
Modélisation, simulation et commande des systèmes dynamiques non lisses [TRIPOP]
Youssef, Samuel [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Le Berre, Simon [Auteur]
Modélisation, simulation et commande des systèmes dynamiques non lisses [TRIPOP]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Titre de la manifestation scientifique :

ROBOSOFT 2025 - 8th IEEE-RAS International Conference on Soft Robotics

Organisateur(s) de la manifestation scientifique :

Cosimo della Santina
Josie Hughes

Ville :

Lausanne

Pays :

Suisse

Date de début de la manifestation scientifique :

2025-04-23

Éditeur :

IEEE

Date de publication :

2025

Mot(s)-clé(s) en anglais :

Soft robotics
Model order reduction
Finite element Method

Discipline(s) HAL :

Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]

Résumé en anglais : [en]

Soft robotics has emerged as an important partof robotics in recent years. Soft robots have an inherent viewof contacts that is dramatically different from traditional rigidrobots. Indeed, for rigid robots, contacts are ...
Lire la suite >Soft robotics has emerged as an important partof robotics in recent years. Soft robots have an inherent viewof contacts that is dramatically different from traditional rigidrobots. Indeed, for rigid robots, contacts are either forbiddento avoid damage to the robot, the environment and humans,or precisely controlled for locomotion or interaction with anobject. For soft robots, contacts may happen without damage,and when interacting with an object, local deformations allowsfor smoother interactions and potentially better performance.These prospects make soft robots attractive for tasks suchas grasping. Fast finite element simulation is very useful forcontrol and design. However, simulating collision adds a majornumerical cost as it requires first a collision detection algorithmto detect collisions, and most importantly, it requires solving aconstrained problem to avoid inter-penetrations and computecontact forces. When the number of contact points is large, thiscomputation slows down the simulation dramatically. In thispaper, we apply a hybrid hyper-reduction method to alleviatethe FEM cost, the collision detection as well as the contactresponse computation. The deformations are computed in alow-dimensional subspace computed from offline experiments.The mechanical matrices are reduced through a method ofhyper-reduction and the collision model is reduced following ahybrid reduction strategy. We show good agreement betweenoriginal and reduced simulation while speeding up dramaticallythe computation. We first apply the method in simulation ona soft bouncing ball to explain the method. We then show anexample with a soft gripper. The method is generic and can beused for control, design or learning algorithms.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Projet ANR :

Simulation des Procédures pErCUtanées pour l'abLation des tumeurs du foie en réAlité viRtuelle

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL