Soft Robots Modeling: A Structured Overview

被引:110
|
作者
Armanini, Costanza [1 ,2 ]
Boyer, Frederic [3 ]
Mathew, Anup Teejo [1 ,2 ]
Duriez, Christian [4 ]
Renda, Federico [1 ,2 ]
机构
[1] Khalifa Univ Sci & Technol, Dept Mech Engn, Abu Dhabi 127788, U Arab Emirates
[2] Khalifa Univ Sci & Technol, Ctr Autonomous Robot Syst, Abu Dhabi 127788, U Arab Emirates
[3] Inst Mines Telecom Atlantique, Lab LS2N, F-44307 Nantes, France
[4] Univ Lille, CNRS, Team DEFROST, Inria,Cent Lille, F-59000 Lille, France
关键词
Dynamics; flexible robots; kinematics; modeling; control; and learning for soft robots; CONTINUUM ROBOTS; FINITE-ELEMENT; DYNAMIC-MODEL; INVERSE KINEMATICS; CONSTANT CURVATURE; NEURAL-NETWORK; DESIGN; DRIVEN; MANIPULATORS; TENDON;
D O I
10.1109/TRO.2022.3231360
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics, and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.
引用
收藏
页码:1728 / 1748
页数:21
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