A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization
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A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization. / Schiller, Lars; Seibel, Arthur; Schlattmann, Josef.
in: IEEE Robotics and Automation Letters, Jahrgang 5, Nr. 2, 8957491, 01.04.2020, S. 1199-1206.Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization
AU - Schiller, Lars
AU - Seibel, Arthur
AU - Schlattmann, Josef
N1 - Publisher Copyright: © 2016 IEEE.
PY - 2020/4/1
Y1 - 2020/4/1
N2 - This letter extends the piecewise constant curvature modeling approach by energy minimization techniques in order to simulate contact with the environment. The new method enables a fast and sufficiently good estimation of the forward kinematics for soft structures whose behavior is mainly determined by boundary conditions. This enables to predict the configuration of such structures for a given reference input, which is demonstrated on a gecko-inspired soft robot. The newly gained simulation capability is then used to find new patterns for straight as well as curved trotting gait. The existing gait pattern for straight gait could be improved by a factor of 1.4, and a new gait pattern for the rotation on the spot could be discovered.
AB - This letter extends the piecewise constant curvature modeling approach by energy minimization techniques in order to simulate contact with the environment. The new method enables a fast and sufficiently good estimation of the forward kinematics for soft structures whose behavior is mainly determined by boundary conditions. This enables to predict the configuration of such structures for a given reference input, which is demonstrated on a gecko-inspired soft robot. The newly gained simulation capability is then used to find new patterns for straight as well as curved trotting gait. The existing gait pattern for straight gait could be improved by a factor of 1.4, and a new gait pattern for the rotation on the spot could be discovered.
KW - and learning for soft robots
KW - control
KW - Modeling
KW - motion control
KW - soft robot applications
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85079282409&partnerID=8YFLogxK
U2 - 10.1109/LRA.2020.2966396
DO - 10.1109/LRA.2020.2966396
M3 - Journal articles
AN - SCOPUS:85079282409
VL - 5
SP - 1199
EP - 1206
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 2
M1 - 8957491
ER -