Details
| Original language | English |
|---|---|
| Title of host publication | 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 7-14 |
| Number of pages | 8 |
| ISBN (electronic) | 9781509060870 |
| Publication status | Published - 7 Jun 2017 |
| Event | 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan Duration: 22 Apr 2017 → 24 Apr 2017 |
Abstract
Recent advances in the rapidly growing field of soft robotics have shown that robots made from soft materials surpass traditional rigid-link and continuum robots in performance in terms of adaptability and flexibility. Owing to their structure-inherent compliance, soft robots are also credited with being able to bridge the gap between humans and autonomous machines. However, for soft robots to become mass-producible in future days, rapid design and modeling tools are indispensable. Currently, the need for fast and versatile development tools is contradicted by a design flow that is mainly driven by experiments. To counter the perceived gap between experimentally and simulation driven research in soft robotics, we have developed a finite element based kinematic modeling framework for soft continuum robots that is applicable to a range of different designs. The corresponding design and modeling tool effectively combines the capabilities of both MATLAB and Abaqus via a Python interface. In this paper, we provide detailed description of the developed methodology and demonstrate the feasibility of the approach on a soft pneumatic actuator.
Keywords
- Finite element analysis, Kinematic modeling, Soft pneumatic actuators, Soft robotics
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Mathematics(all)
- Control and Optimization
- Engineering(all)
- Control and Systems Engineering
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2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 7-14 7942652.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A framework for the kinematic modeling of soft material robots combining finite element analysis and piecewise constant curvature kinematics
AU - Runge-Borchert, Gundula
AU - Wiese, Mats
AU - Günther, L.
AU - Raatz, Annika
PY - 2017/6/7
Y1 - 2017/6/7
N2 - Recent advances in the rapidly growing field of soft robotics have shown that robots made from soft materials surpass traditional rigid-link and continuum robots in performance in terms of adaptability and flexibility. Owing to their structure-inherent compliance, soft robots are also credited with being able to bridge the gap between humans and autonomous machines. However, for soft robots to become mass-producible in future days, rapid design and modeling tools are indispensable. Currently, the need for fast and versatile development tools is contradicted by a design flow that is mainly driven by experiments. To counter the perceived gap between experimentally and simulation driven research in soft robotics, we have developed a finite element based kinematic modeling framework for soft continuum robots that is applicable to a range of different designs. The corresponding design and modeling tool effectively combines the capabilities of both MATLAB and Abaqus via a Python interface. In this paper, we provide detailed description of the developed methodology and demonstrate the feasibility of the approach on a soft pneumatic actuator.
AB - Recent advances in the rapidly growing field of soft robotics have shown that robots made from soft materials surpass traditional rigid-link and continuum robots in performance in terms of adaptability and flexibility. Owing to their structure-inherent compliance, soft robots are also credited with being able to bridge the gap between humans and autonomous machines. However, for soft robots to become mass-producible in future days, rapid design and modeling tools are indispensable. Currently, the need for fast and versatile development tools is contradicted by a design flow that is mainly driven by experiments. To counter the perceived gap between experimentally and simulation driven research in soft robotics, we have developed a finite element based kinematic modeling framework for soft continuum robots that is applicable to a range of different designs. The corresponding design and modeling tool effectively combines the capabilities of both MATLAB and Abaqus via a Python interface. In this paper, we provide detailed description of the developed methodology and demonstrate the feasibility of the approach on a soft pneumatic actuator.
KW - Finite element analysis
KW - Kinematic modeling
KW - Soft pneumatic actuators
KW - Soft robotics
UR - http://www.scopus.com/inward/record.url?scp=85022154076&partnerID=8YFLogxK
U2 - 10.1109/iccar.2017.7942652
DO - 10.1109/iccar.2017.7942652
M3 - Conference contribution
AN - SCOPUS:85022154076
SP - 7
EP - 14
BT - 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Y2 - 22 April 2017 through 24 April 2017
ER -