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

Renato Gasoto; Miles Macklin; Xuan Liu; Yinan Sun; Kenny Erleben; Cagdas Onal; Jie Fu

doi:10.1109/ICRA.2019.8794375

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

Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas Onal, Jie Fu

4 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Publication date	May 2019
Pages	6272-6279
ISBN (Electronic)	978-1-5386-6027-0
DOIs	https://doi.org/10.1109/ICRA.2019.8794375
Publication status	Published - May 2019
Event	2019 International Conference on Robotics and Automation (ICRA) - Palais des congres de Montreal, Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Conference

Conference	2019 International Conference on Robotics and Automation (ICRA)
Location	Palais des congres de Montreal
Country/Territory	Canada
City	Montreal
Period	20/05/2019 → 24/05/2019

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10.1109/ICRA.2019.8794375

https://ieeexplore.ieee.org/document/8794375/

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Gasoto, R, Macklin, M, Liu, X, Sun, Y, Erleben, K, Onal, C & Fu, J 2019, A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. in 2019 International Conference on Robotics and Automation (ICRA). IEEE, pp. 6272-6279, 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada, 20/05/2019. https://doi.org/10.1109/ICRA.2019.8794375

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abstract = "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.",

author = "Renato Gasoto and Miles Macklin and Xuan Liu and Yinan Sun and Kenny Erleben and Cagdas Onal and Jie Fu",

year = "2019",

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AU - Macklin, Miles

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AU - Onal, Cagdas

AU - Fu, Jie

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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.

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DO - 10.1109/ICRA.2019.8794375

M3 - Article in proceedings

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

Y2 - 20 May 2019 through 24 May 2019

ER -

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

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