Details
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 393-400 |
| Number of pages | 8 |
| ISBN (electronic) | 9781538637418 |
| ISBN (print) | 978-1-5386-3743-2 |
| Publication status | Published - 23 Mar 2018 |
| Event | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017 |
Publication series
| Name | 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
|---|
Abstract
Recent trends in bioinspired robotic systems are paving the way for robots to become part of our daily lives. Soft robots, which are widely recognized as the next generation of human-friendly robots, are such a trend. Soft robots are generally more adaptable, more flexible, and safer than their rigid-link counterparts. Research in soft robotics has produced a broad variety of interesting solutions for all sorts of applications ranging from medical engineering and rehabilitation over exploration to industrial handling. This diversity together with a general lack of experience in designing with soft materials has contributed to a design flow that is highly empirical in nature. For soft robots to become mass-producible in the near future, more general design and modeling methods are needed. In this article, we present a method for the design optimization of soft robot modules that effectively combines finite element modeling and gradient-free optimization. To demonstrate the feasibility of the approach, a soft pneumatic actuator is designed and optimized. Performance analysis of the optimization scheme shows the robustness of the solution in the given case.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
- Mathematics(all)
- Modelling and Simulation
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2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 393-400 (2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design optimization of soft pneumatic actuators using genetic algorithms
AU - Runge-Borchert, Gundula
AU - Peters, Jan
AU - Raatz, Annika
PY - 2018/3/23
Y1 - 2018/3/23
N2 - Recent trends in bioinspired robotic systems are paving the way for robots to become part of our daily lives. Soft robots, which are widely recognized as the next generation of human-friendly robots, are such a trend. Soft robots are generally more adaptable, more flexible, and safer than their rigid-link counterparts. Research in soft robotics has produced a broad variety of interesting solutions for all sorts of applications ranging from medical engineering and rehabilitation over exploration to industrial handling. This diversity together with a general lack of experience in designing with soft materials has contributed to a design flow that is highly empirical in nature. For soft robots to become mass-producible in the near future, more general design and modeling methods are needed. In this article, we present a method for the design optimization of soft robot modules that effectively combines finite element modeling and gradient-free optimization. To demonstrate the feasibility of the approach, a soft pneumatic actuator is designed and optimized. Performance analysis of the optimization scheme shows the robustness of the solution in the given case.
AB - Recent trends in bioinspired robotic systems are paving the way for robots to become part of our daily lives. Soft robots, which are widely recognized as the next generation of human-friendly robots, are such a trend. Soft robots are generally more adaptable, more flexible, and safer than their rigid-link counterparts. Research in soft robotics has produced a broad variety of interesting solutions for all sorts of applications ranging from medical engineering and rehabilitation over exploration to industrial handling. This diversity together with a general lack of experience in designing with soft materials has contributed to a design flow that is highly empirical in nature. For soft robots to become mass-producible in the near future, more general design and modeling methods are needed. In this article, we present a method for the design optimization of soft robot modules that effectively combines finite element modeling and gradient-free optimization. To demonstrate the feasibility of the approach, a soft pneumatic actuator is designed and optimized. Performance analysis of the optimization scheme shows the robustness of the solution in the given case.
UR - http://www.scopus.com/inward/record.url?scp=85049910736&partnerID=8YFLogxK
U2 - 10.15488/14443
DO - 10.15488/14443
M3 - Conference contribution
AN - SCOPUS:85049910736
SN - 978-1-5386-3743-2
T3 - 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)
SP - 393
EP - 400
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -