Reduced-order modeling of soft robots.

• Main Authors: Jean Chenevier, David González, J Vicente Aguado, Francisco Chinesta, Elías Cueto
• Format: Article
• Language: English
• Published: Public Library of Science (PLoS) 2018-01-01
• Series: PLoS ONE
• Online Access: http://europepmc.org/articles/PMC5823373?pdf=render

We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method.