A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes

TY - GEN

T1 - A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes

AU - Gasoto, Renato

AU - Macklin, Miles

AU - Liu, Xuan

AU - Sun, Yinan

AU - Erleben, Kenny

AU - Onal, Cagdas

AU - Fu, Jie

PY - 2019/5

Y1 - 2019/5

N2 - In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback.

AB - In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback.

U2 - 10.1109/ICRA.2019.8794375

DO - 10.1109/ICRA.2019.8794375

M3 - Article in proceedings

SP - 6272

EP - 6279

BT - 2019 International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2019 International Conference on Robotics and Automation (ICRA)

Y2 - 20 May 2019 through 24 May 2019

ER -