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A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization

Research output: Journal contributions › Journal articles › Research › peer-review

Authors

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.

Original languageEnglish
Article number8957491
JournalIEEE Robotics and Automation Letters
Volume5
Issue number2
Pages (from-to)1199-1206
Number of pages8
DOIs
Publication statusPublished - 01.04.2020
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

    Research areas

  • and learning for soft robots, control, Modeling, motion control, soft robot applications
  • Engineering

Other publications by the same author(s)

Reduction of Sintering Distortion in Metal Binder Jetting: Measuring Friction Under Sintering Conditions

Blunk, H. & Seibel, A., 15.03.2025, In: Funtai Oyobi Fummatsu Yakin/Journal of the Japan Society of Powder and Powder Metallurgy. 72, Issue Supplement, p. S1475-S1479 5 p.

Research output: Journal contributions › Journal articles › Research › peer-review

Additive Manufacturing of Soft Robots

Weigand, F. & Seibel, A., 2023, Innovative Product Development by Additive Manufacturing 2021. Lachmayer, R., Bode, B. & Kaierle, S. (eds.). Cham: Springer International Publishing, p. 101-112 12 p.

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

A generalized α-level decomposition concept for numerical fuzzy calculus

Seibel, A. & Schlattmann, J., 10.2015, Proceedings of the 16th World Congress of the International Fuzzy Systems Association (IFSA) and 9th Conference of the European Society for Fuzzy Logic and Technology (EUSFLAT) 2015. Alonso, J. M., Reformat, M. & Bustince, H. (eds.). Atlantis Press, p. 137-140 4 p. (Advances in Intelligent Systems Research; vol. 89).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Aufbau und Organisation von Entwicklungsprojekten

Schlattmann, J. & Seibel, A., 2023, (Accepted/In press) 2. Aufl. ed. Berlin, Heidelberg: Springer Verlag. (Springer Reference Technik)

Research output: Books and anthologies › Book

Automated Design of 3D-Printed Silicone Parts: A Case Study on Hand Rehabilitation Gloves for Stroke Patients

Weigand, F., Föllmer, J. & Seibel, A., 2024, Industrializing Additive Manufacturing: Proceedings of AMPA2023. Klahn, C., Meboldt, M. & Ferchow, J. (eds.). Cham: Springer International Publishing, p. 213-224 12 p. (Springer Tracts in Additive Manufacturing).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI

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