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Framework for online simulation of soft robots with optimization-based inverse model

C. Duriez, E. Coevoet, F. Largilliere, T. Morales-Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt
2016 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control.  ...  The model can also be inverted online using an optimization-based method which allows to control the physical robots in the task space.  ...  The video-game based simulation frameworks are fast and efficient to compute rigid-body simulations as well as some kind of soft bodies.  ... 
doi:10.1109/simpar.2016.7862384 dblp:conf/simpar/DuriezCLBZSCMGD16 fatcat:nozyrvor25glxn5ub2oltlspue

Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation

Kit-Hang Lee, Denny K.C. Fu, Martin C.W. Leong, Marco Chow, Hing-Choi Fu, Kaspar Althoefer, Kam Yim Sze, Chung-Kwong Yeung, Ka-Wai Kwok
2017 Soft Robotics  
In this study, we propose a generic control framework based on nonparametric, 17 online, as well as local training, in order to learn the inverse model directly, without prior knowledge of the 18 robot's  ...  Taking advantage of its inherent compliance, soft robots can assure safe interaction with external 13 environments, provided that precise and effective manipulation could be achieved.  ...  FEA into the learning control framework for proper initialization of the robot 25 inverse model.  ... 
doi:10.1089/soro.2016.0065 pmid:29251567 pmcid:PMC5734182 fatcat:7oqh6houvzdaxmmncu57bhsg4i

Review on generic methods for mechanical modeling, simulation and control of soft robots

Pierre Schegg, Christian Duriez, Matteo Cianchetti
2022 PLoS ONE  
In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot.  ...  First, we start with a quick overview of modeling approaches for soft robots and available methods for calculating the mechanical compliance, and in particular numerical methods, like real-time Finite  ...  Indeed it is the authors' belief that those methods allow to bridge the gap between rigid and soft robots, thus allowing to use common robotic tools, such as inverse models, kinematic and dynamic control  ... 
doi:10.1371/journal.pone.0251059 pmid:35030170 pmcid:PMC8759680 fatcat:igsjjyai2befdne4jgiuxfqlzy

FEM-based soft robotic control framework for intracavitary navigation

Kit-Hang Lee, Martin C. W. Leong, Marco C. K. Chow, Hing-Choi Fu, Wayne Luk, Kam-Yim Sze, Chung-Kwong Yeung, Ka-Wai Kwok
2017 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)  
To resolve this challenge, we propose a novel control framework that can characterize the kinematics of a soft continuum robot through the hyper-elastic Finiteelement modeling (FEM).  ...  Experimental validation has been conducted to show the feasibility of controlling the soft robot for intracavitary path following.  ...  Optimization-based Inverse kinematics solver With the estimated Jacobian matrix, it is possible to resolve the inverse kinematics for the required actuation u  to attain the desired image plane displacement  ... 
doi:10.1109/rcar.2017.8311828 dblp:conf/rcar/LeeLCFLSYK17 fatcat:f5cwijjkk5ex5palytddubbori

FEM-Based Deformation Control for Dexterous Manipulation of 3D Soft Objects

F. Ficuciello, A. Migliozzi, E. Coevoet, A. Petit, C. Duriez
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling.  ...  The desired motions of the fingers are computed in real-time as an inverse solution of a Finite Element Method (FEM), the forces applied by the fingertips at the contact points being modelled by Lagrange  ...  Ou approach is based on the formulation developed for soft robot control in [21] , for which a set of end-effector points defined on a robot can be controlled by actively deforming the robot by a set  ... 
doi:10.1109/iros.2018.8593512 dblp:conf/iros/FicucielloMCPD18 fatcat:4genukc32jbidcpyei6vsgm3ya

Software toolkit for modeling, simulation, and control of soft robots

E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, M. Thieffry, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt, C. Duriez
2017 Advanced Robotics  
Results The methodology described in this paper allows for the simulation of soft robots in their environment in real-time. Moreover, the inverse model allows online control in the actuator space.  ...  Section 6 contains implementation aspects related to the SOFA plugin and Section 7 presents examples of soft robots modeled and simulated with our framework.  ... 
doi:10.1080/01691864.2017.1395362 fatcat:23kezgh3zbfk3pph6nponqr5ca

A Survey for Machine Learning-Based Control of Continuum Robots

Xiaomei Wang, Yingqi Li, Ka-Wai Kwok
2021 Frontiers in Robotics and AI  
Different from rigid-link robots with accurate analytical kinematics/dynamics, soft robots encounter modeling uncertainties due to intrinsic and extrinsic factors, which would deteriorate the model-based  ...  However, the trade-off between flexibility and controllability of soft manipulators may not be readily optimized but would be demanded for specific kinds of modeling approaches.  ...  Thuruthel et al. (2018) leveraged the model-based policy learning algorithm on a simulated tendon-driven soft manipulator capable of touching dynamic targets.  ... 
doi:10.3389/frobt.2021.730330 pmid:34692777 pmcid:PMC8527450 fatcat:p4yeo5jqajfhphzsdbiu746swa

A multi-level control architecture for the bionic handling assistant

M. Rolf, K. Neumann, J.F. Queißer, R.F. Reinhart, A. Nordmann, J.J. Steil
2015 Advanced Robotics  
We thereby achieve an architecture with unique overall control abilities for a soft continuum robot that allow for flexible experimentation towards compliant user-interaction, grasping, and online learning  ...  To master the control of this challenging robot, we argue for a tight integration of standard analytic tools, simulation, control, and state of the art machine learning into an overall architecture that  ...  Queißer was funded by the DFG, Cluster of Excellence 277 Cognitive Interaction Technology, R. F. Reinhart and K.  ... 
doi:10.1080/01691864.2015.1037793 fatcat:nx2ikz3225etlhixogqxydlmxq

Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing [article]

Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann
2022 arXiv   pre-print
Here, using the soft robot modeling capabilities of the framework SOFA, we build a detailed FEM model of a multi-segment soft continuum robotic arm composed of compliant deformable materials and fiber-reinforced  ...  pressurized actuation chambers with a model for sensors that provide orientation output.  ...  Results summary Specifically, this work contributes: 1) An FEM-based model for soft robotic manipulators that includes fiber reinforcement 2) An inverse-dynamics-based calibration process to determine  ... 
arXiv:2206.11626v1 fatcat:ndg4lbptrfcrtihqjiw7hxxmhq

A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints [article]

Filippo A. Spinelli, Robert K. Katzschmann
2022 arXiv   pre-print
We believe that a MPC implementation based on our approach could be the way to address most of model-based soft robotics control issues within a unified and modular framework, while allowing to include  ...  In this work, we adapt Model Predictive Control (MPC), popular for rigid robots, to a soft robotic arm called SoPrA.  ...  We also thank Amirhossein Kazemipour for his important insights during the planning phase of this work.  ... 
arXiv:2204.13710v2 fatcat:chhuwdwtcnemvdso7qad7igzpq

A Data-Efficient Model-Based Learning Framework for the Closed-Loop Control of Continuum Robots [article]

Xinran Wang, Nicolas Rojas
2022 arXiv   pre-print
Using a continuum robot with soft spines, we show that our approach provides an efficient framework to bridge the sim-to-real gap in model-based learning for continuum robots.  ...  Control policy A uses a GPR model and a RNN trained in simulation to optimize control outputs for simulated targets; control policy B retrains the RNN in policy A with data generated from the GPR model  ...  Clark for his help in the development of the experimental set up.  ... 
arXiv:2204.10454v1 fatcat:4247esvb7fecpalx2dqpygw3ne

Reality-assisted evolution of soft robots through large-scale physical experimentation: a review [article]

Toby Howison, Simon Hauser, Josie Hughes, Fumiya Iida
2020 arXiv   pre-print
By simulating huge numbers of virtual robots using these data-driven models, optimization algorithms can illuminate multiple design candidates for transference to the real world.  ...  We outline key developments in the design of physically embodied soft robots under the framework of reality-assisted evolution.  ...  These reality and fabrication gaps severely limited the scope of designing physically embodied soft robots with a model-based approach.  ... 
arXiv:2009.13960v3 fatcat:fzwp36h2bzgibddhsnqhsk32zi

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming

Eulalie Coevoet, Adrien Escande, Christian Duriez
2019 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)  
Soft robots locomotion and manipulation control using FEM simulation and quadratic programming.  ...  Fig. 9 : 9 Real soft robot actuated online using the output of the simulation.  ...  In Fig. 9 we control the orientation of a real plastic cup online using our simulation framework. In Fig. 10 , we give the trajectories of the plastic cup center of mass.  ... 
doi:10.1109/robosoft.2019.8722815 dblp:conf/robosoft/CoevoetED19 fatcat:vgozqfxsevfiban6iynozseuvm

Real-time simulation of hydraulic components for interactive control of soft robots

A. Rodriguez, E. Coevoet, C. Duriez
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
Real-time simulation of hydraulic components for interactive control of soft robots.  ...  ACKNOWLEDGEMENTS This work is supported by the FPU 2012 program of the University of Granada and by the project TIN2014-60956-R of the Spanish Ministry of Economy and Competitiveness.  ...  FEM-QP SOFT ROBOT CONTROL We aim to develop a model for hydraulic components to be integrated within the FEM-based soft robot control framework proposed in [5] .  ... 
doi:10.1109/icra.2017.7989575 dblp:conf/icra/RodriguezCD17 fatcat:njodonrp5jcdrnynal5lqowqqq

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA April 2020 3452-3459 Model-Based Coupling for Co-Simulation of Robotic Contact Tasks.  ...  ., +, LRA July 2020 4657-4662 Model-Based Coupling for Co-Simulation of Robotic Contact Tasks.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja
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