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On Planar Discrete Elastic Rod Models for the Locomotion of Soft Robots
Nathaniel N Goldberg1, Xiaonan Huang2, Carmel Majidi2
1Department of Mechanical Engineering, University of California at Berkeley, Berkeley, California.
Soft Robotics
|May 22, 2019
Summary
This study models soft robots using a discrete elastic rod theory. The research successfully simulates a caterpillar robot
Area of Science:
- Robotics
- Mechanical Engineering
- Applied Mathematics
Background:
- Modeling soft robots capable of surface locomotion presents significant challenges.
- Discrete elastic rod theory offers a numerically efficient approach to overcome these challenges.
Purpose of the Study:
- To adapt a planar discrete elastic rod theory for modeling segmented soft robots.
- To simulate the dynamics of a caterpillar-inspired soft robot actuated by shape memory alloys.
Main Methods:
- Utilized a planar formulation of Bergou et al.'s discrete elastic rod theory.
- Applied Lagrange's equations of motion for constrained systems of particles.
- Developed procedures for parameter prescription and model calibration.
Main Results:
- Successfully modeled soft robots composed of folded and bonded soft material segments.
- Examined the dynamics of a caterpillar robot exploiting stick-slip friction for locomotion.
- Calibrated model demonstrated good agreement with experimental behavior.
Conclusions:
- The discrete elastic rod theory provides an effective framework for modeling segmented soft robots.
- The simulation accurately captures the locomotion dynamics of the caterpillar-inspired soft robot.
- This approach facilitates the design and analysis of soft robotic systems.
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