A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
Abstract
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback.
- Publication:
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arXiv e-prints
- Pub Date:
- April 2019
- DOI:
- 10.48550/arXiv.1904.02833
- arXiv:
- arXiv:1904.02833
- Bibcode:
- 2019arXiv190402833G
- Keywords:
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- Computer Science - Robotics
- E-Print:
- Paper accepted on ICRA 2019. Supplemental video https://youtu.be/wUAGTeKtKsc