Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains
Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains
复制标题
基于有限元的高效运动链软体机器人仿真
DOI：
10.1109/icra.2018.8461106
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
D. Prattichizzo
中科院分区：
文献类型：
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作者：
Maria Pozzi;Eder Miguel;Raphael Deimel;M. Malvezzi;B. Bickel;O. Brock;D. Prattichizzo
在机器人操作和抓取的背景下，从静态（单个姿势的力闭合）和缺乏接触（只允许接触力闭合，其他一切都是障碍）的观点转变为动态和接触丰富（软操作）的观点，导致了对软手的兴趣增加。这些手可以很容易地利用环境限制和物体表面而没有风险，并安全地与人类互动，但也存在一些挑战。设计它们很困难，预测、建模和“编程”它们与对象和环境的交互也很困难。本文利用新的和现有的仿真技术，快速有效地解决了对它们进行仿真的问题。我们提出了一种三层仿真框架，其中动态特性（如刚度）由缓慢但准确的FEM仿真数据一次确定，然后浓缩成一个集总参数模型，可用于快速模拟柔软的手指和柔软的手。我们将该方法应用于柔性气动手指的仿真。
In the context of robotic manipulation and grasping, the shift from a view that is static (force closure of a single posture) and contact-deprived (only contact for force closure is allowed, everything else is obstacle) towards a view that is dynamic and contact-rich (soft manipulation) has led to an increased interest in soft hands. These hands can easily exploit environmental constraints and object surfaces without risk, and safely interact with humans, but present also some challenges. Designing them is difficult, as well as predicting, modelling, and “programming” their interactions with the objects and the environment. This paper tackles the problem of simulating them in a fast and effective way, leveraging on novel and existing simulation technologies. We present a triple-layered simulation framework where dynamic properties such as stiffness are determined from slow but accurate FEM simulation data once, and then condensed into a lumped parameter model that can be used to fast simulate soft fingers and soft hands. We apply our approach to the simulation of soft pneumatic fingers.