Soft Robots Modeling: A Structured Overview

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

Document type :

Article dans une revue scientifique: Article original

DOI :

10.1109/TRO.2022.3231360

Title :

Soft Robots Modeling: A Structured Overview

Author(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]

Journal title :

IEEE Transactions on Robotics

Pages :

1728-1748

Publisher :

IEEE

Publication date :

2023-06

ISSN :

1552-3098

English keyword(s) :

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

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]

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

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

ANR Project :

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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