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

Christian Duriez 1, 2 Eulalie Coevoet 1 Frédérick Largilliere 1, 3, 2 Thor Bieze 1, 2 Zhongkai Zhang 1, 2 Mario Sanz-Lopez 1 Bruno Carrez 1 Damien Marchal 1, 2 Olivier Goury 1, 2 Jérémie Dequidt 1, 2
1 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 MINT2 - Méthodes et outils pour l'Interaction à gestes
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control. Until now, no unified software framework covering the different aspects exists. In this paper, we present such a framework from its theoretical foundations up to its implementation on top of SOFA, an open-source framework for deformable online simulation. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators or contacts using a unified representation based on Lagrange multipliers. It enables the digital robot to be simulated in its environment using a direct model. The model can also be inverted online using an optimization-based method which allows to control the physical robots in the task space. To demonstrate the effectiveness of the approach, we present various soft robots scenarios including ones where the robot is interacting with its environment. The software is freely available from https://project.inria.fr/softrobot/
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https://hal.inria.fr/hal-01425349
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Submitted on : Tuesday, January 3, 2017 - 3:20:41 PM
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Christian Duriez, Eulalie Coevoet, Frédérick Largilliere, Thor Bieze, Zhongkai Zhang, et al.. Framework for online simulation of soft robots with optimization-based inverse model. SIMPAR: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Dec 2016, San Francisco, United States. ⟨hal-01425349⟩

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