Journal
SOFT ROBOTICS: TRENDS, APPLICATIONS AND CHALLENGES
Volume 17, Issue -, Pages 103-109Publisher
SPRINGER INTERNATIONAL PUBLISHING AG
DOI: 10.1007/978-3-319-46460-2_13
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This chapter presents new real-time and physics-based modeling methods dedicated to deformable soft robots. In this approach, continuum mechanics provides the partial derivative equations that govern the deformations, and Finite Element Method (FEM) is used to compute numerical solutions adapted to the robot. A formulation based on Lagrange Multipliers is used to model the behavior of the actuators as well as the contact with the environment. Direct and inverse kinematic models are also obtained for real-time control. Some experiments and numerical results are presented.
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