Dynamic simulation of articulated soft robots
Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial....
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| Published in | Nature communications Vol. 11; no. 1; pp. 2233 - 9 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
London
Nature Publishing Group UK
06.05.2020
Nature Publishing Group Nature Portfolio |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2041-1723 2041-1723 |
| DOI | 10.1038/s41467-020-15651-9 |
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| Abstract | Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design.
To advance the design of soft robots, novel computational frameworks that accurately model the dynamics of soft material systems are required. Here, the authors report a numerical framework for studying locomotion in limbed soft robots that is based on the discrete elastic rods algorithm. |
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| AbstractList | Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design.
To advance the design of soft robots, novel computational frameworks that accurately model the dynamics of soft material systems are required. Here, the authors report a numerical framework for studying locomotion in limbed soft robots that is based on the discrete elastic rods algorithm. Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design. Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design.Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design. Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design.To advance the design of soft robots, novel computational frameworks that accurately model the dynamics of soft material systems are required. Here, the authors report a numerical framework for studying locomotion in limbed soft robots that is based on the discrete elastic rods algorithm. To advance the design of soft robots, novel computational frameworks that accurately model the dynamics of soft material systems are required. Here, the authors report a numerical framework for studying locomotion in limbed soft robots that is based on the discrete elastic rods algorithm. |
| ArticleNumber | 2233 |
| Author | Majidi, Carmel Jawed, M. Khalid Huang, Xiaonan Huang, Weicheng |
| Author_xml | – sequence: 1 givenname: Weicheng surname: Huang fullname: Huang, Weicheng organization: Department of Mechanical and Aerospace Engineering, University of California, Los Angeles – sequence: 2 givenname: Xiaonan surname: Huang fullname: Huang, Xiaonan organization: Department of Mechanical Engineering, Carnegie Mellon University – sequence: 3 givenname: Carmel orcidid: 0000-0002-6469-9645 surname: Majidi fullname: Majidi, Carmel email: cmajidi@andrew.cmu.edu organization: Department of Mechanical Engineering, Carnegie Mellon University – sequence: 4 givenname: M. Khalid orcidid: 0000-0003-4661-1408 surname: Jawed fullname: Jawed, M. Khalid email: khalidjm@seas.ucla.edu organization: Department of Mechanical and Aerospace Engineering, University of California, Los Angeles |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/32376823$$D View this record in MEDLINE/PubMed |
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| Snippet | Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid... To advance the design of soft robots, novel computational frameworks that accurately model the dynamics of soft material systems are required. Here, the... |
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| SubjectTerms | 639/166/988 639/705/1042 Algorithms Computer applications Computer simulation Design Differential geometry Humanities and Social Sciences Inelastic collisions Locomotion Maneuvers Mathematical models Microprocessors multidisciplinary Numerical methods Robot control Robot dynamics Robots Robustness (mathematics) Science Science (multidisciplinary) Simulation Soft robotics |
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| Title | Dynamic simulation of articulated soft robots |
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