A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
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DOI：
10.1109/icra.2019.8794375
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发表时间：
2019-04
期刊：
影响因子：
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通讯作者：
Renato Gasoto;M. Macklin;Xuan Liu;Yinan Sun;Kenny Erleben;C. Onal;Jie Fu
中科院分区：
文献类型：
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作者：
Renato Gasoto;M. Macklin;Xuan Liu;Yinan Sun;Kenny Erleben;C. Onal;Jie Fu
在这项工作中，我们提出了一个框架，能够准确地表示软机器人执行器在多物理场环境中的实时。我们提出了一个约束为基础的动力学模型的1维气动软致动器，占内部压力，以及致动器的延迟和阻尼下的充气和放气的效果，并证明其准确性的一个完整的软机器人蛇与多个一维致动器的组成。我们验证了我们的模型的精度在静态变形和动态运动开环控制实验。为了实现实时性能，我们利用GPU的并行计算能力来实现交互式控制和反馈。
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.