Soft Robots Modeling: A Structured Overview

Armanini, Costanza; Boyer, Frédéric; Mathew, Anup Teejo; Duriez, Christian; Renda, Federico

Type de document :

Article dans une revue scientifique: Article original

DOI :

10.1109/TRO.2022.3231360

Titre :

Soft Robots Modeling: A Structured Overview

Auteur(s) :

Armanini, Costanza [Auteur]
Khalifa University for Science Technology [Abou Dabi]
Boyer, Frédéric [Auteur]
Robotique Et Vivant [LS2N - équipe ReV]
Département Automatique, Productique et Informatique [IMT Atlantique - DAPI]
Mathew, Anup Teejo [Auteur]
Khalifa University for Science Technology [Abou Dabi]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Renda, Federico [Auteur]
Khalifa University for Science Technology [Abou Dabi]

Titre de la revue :

IEEE Transactions on Robotics

Pagination :

1728-1748

Éditeur :

IEEE

Date de publication :

2023-06

ISSN :

1552-3098

Mot(s)-clé(s) en anglais :

Robotics (cs.RO)
FOS: Computer and information sciences

Discipline(s) HAL :

Informatique [cs]/Robotique [cs.RO]

Résumé en anglais : [en]

The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the ...
Lire la suite >The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Projet ANR :

Théorie Cosserat pour les robots élancés contrôlés en déformation

Collections :

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

Source :

Harvested from HAL

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