.png){kind=icon}
Return
Soft Robots Modeling: A Structured Overview
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2022.3231360.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
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.
Keywords:
Dynamics
flexible robots
kinematics
modeling
control
and learning for soft robots
Journal
IF:
10.5
Papers:
3.3K
Citations:
2.8W
Organization
Cited Papers
ShareSaveFacile and template-free synthesis of robust, highly active and easily recyclable submicrometer-sized hierarchical TS-1 aggregates composed of ultra-small nanocrystallites (<50 nm).png)
CrystEngComm
CrystEngCommIF0
PREAI
ShareSaveShareSaveOne Hundred Years of Mouse Genetics: An Intellectual History. I. The Classical Period (1902-1980)Genetics
OAAI
GeneticsIF0
OAAIShareSaveShareSaveShareSave
View more