Title :

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

Author(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 ]

Conference title :

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

Conference organizers(s) :

Cosimo della Santina
Josie Hughes

City :

Lausanne

Country :

Suisse

Start date of the conference :

2025-04-23

Publisher :

IEEE

Publication date :

2025

English keyword(s) :

Soft robotics
Model order reduction
Finite element Method

HAL domain(s) :

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

English abstract : [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 ...
Show more >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.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

ANR Project :

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