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Related Experiment Video

Updated: Feb 14, 2026

Bioinspired Soft Robot with Incorporated Microelectrodes

Bioinspired Soft Robot with Incorporated Microelectrodes

Published on: February 28, 2020

Reduced-order modeling of soft robots.

Jean Chenevier^1,2, David González¹, J Vicente Aguado²

¹Aragon Institute of Engineering Research, Universidad de Zaragoza, Zaragoza, Spain.

|February 23, 2018

Summary

We developed a new method for controlling soft robots using simulation. This approach enables real-time control by creating a response surface for hyperelastic materials and non-linear kinematics, reducing computational load.

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Area of Science:

Robotics
Control Systems
Materials Science

Background:

Soft robots offer unique advantages but pose control challenges due to their complex dynamics.
Existing control strategies often rely on simplified models, limiting performance with non-linear materials and movements.

Purpose of the Study:

To present a general strategy for modeling and simulation-based control of soft robots.
To enable real-time control by addressing computational constraints.
To allow for fully non-linear modeling of soft materials and robot kinematics.

Main Methods:

Developed a reduced-order modeling strategy to minimize online computational cost.
Implemented an offline training procedure to generate a response surface characterizing robot behavior.
Utilized a hyperelastic material model and a fully non-linear kinematic description.

Main Results:

The proposed methodology allows for accurate, non-linear modeling of soft robot behavior.
Reduced-order modeling significantly minimizes online CPU cost for real-time control.
Demonstrated the effectiveness of the approach through analysis of various robot configurations.

Conclusions:

The presented strategy provides a general and effective framework for soft robot control.
The method overcomes limitations of existing approaches by incorporating full non-linear dynamics.
This work paves the way for more sophisticated and responsive soft robotic systems.