Title :

Framework for online simulation of soft robots with optimization-based inverse model

Author(s) :

Duriez, Christian [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Coevoet, Eulalie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Largilliere, Frédérick [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Méthodes et outils pour l'Interaction à gestes [MINT2]
Deformable Robots Simulation Team [DEFROST ]
Bieze, Thor [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Zhang, Zhongkai [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Sanz Lopez, Mario [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Carrez, Bruno [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Marchal, Damien [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Goury, Olivier [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Dequidt, Jeremie [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]

Conference title :

SIMPAR: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots

City :

San Francisco

Country :

Etats-Unis d'Amérique

Start date of the conference :

2016-12-12

Journal title :

Proceedings of SIMPAR 2016 conference

Publication date :

2016-12-15

HAL domain(s) :

Informatique [cs]/Synthèse d'image et réalité virtuelle [cs.GR]
Informatique [cs]/Robotique [cs.RO]
Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control. Until now, no unified software framework covering the different aspects exists. ...
Show more >Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control. Until now, no unified software framework covering the different aspects exists. In this paper, we present such a framework from its theoretical foundations up to its implementation on top of SOFA, an open-source framework for deformable online simulation. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators or contacts using a unified representation based on Lagrange multipliers. It enables the digital robot to be simulated in its environment using a direct model. The model can also be inverted online using an optimization-based method which allows to control the physical robots in the task space. To demonstrate the effectiveness of the approach, we present various soft robots scenarios including ones where the robot is interacting with its environment. The software is freely available from https://project.inria.fr/softrobot/Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

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

Source :

Harvested from HAL