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Real-Time Simulation For Control Of Soft Robots With Self-Collisions Using Model Order Reduction For Contact Forces

Olivier Goury 1 Bruno Carrez 1 Christian Duriez 1
1 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : In rigid robotics, self-collision are usually avoided since it leads to a failure in the robot control and can also cause damage. In soft robotics, the situation is very different, and self-collisions may even be a desirable property, for example to gain artificial stiffness or to provide a natural limitation to the workspace. However, the modeling and simulation of self-collision is very costly as it requires first a collision detection algorithm to detect where collisions occur, and most importantly, it requires solving a constrained problem to avoid interpenetrations. When the number of contact points is large, this computation slows down the simulation dramatically. In this paper, we apply a numerical method to alleviate the contact response computation by reducing the contact space in a lowdimensional positive space obtained from experiments. We show good accuracy while speeding up dramatically the simulation. We apply the method in simulation on a cable-actuated finger and on a continuum manipulator performing exploration. We also show that the reduced contact method proposed can be used for inverse modeling. The method can therefore be used for control or design.
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Submitted on : Thursday, April 8, 2021 - 12:30:22 PM
Last modification on : Friday, April 1, 2022 - 3:49:17 AM


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Olivier Goury, Bruno Carrez, Christian Duriez. Real-Time Simulation For Control Of Soft Robots With Self-Collisions Using Model Order Reduction For Contact Forces. IEEE Robotics and Automation Letters, IEEE 2021, 6 (2), pp.3752 - 3759. ⟨10.1109/LRA.2021.3064247⟩. ⟨hal-03192762⟩



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