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
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.
BibTeX
@inproceedings{icra2019_avalidatedphysic,
title = {A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes},
author = {Renato Gasoto and Miles Macklin and Xuan Liu and Yinan Sun and Kenny Erleben and Cagdas Onal and Jie Fu},
booktitle = {ICRA 2019},
year = {2019}
}