Review on generic methods for mechanical modeling, simulation and control of soft robots

Area of Science:

• Robotics
• Mechanical Engineering
• Computational Science

Background:

• Soft robots offer unique advantages over traditional rigid robots due to their inherent compliance and adaptability.
• Modeling and controlling soft robots present significant challenges due to their complex, continuous deformation and material properties.

Purpose of the Study:

• To provide a comprehensive overview of generic modeling and control approaches for soft robots.
• To focus on the application of the Finite Element Method (FEM) for simulation and control.
• To address challenges in inverse kinematics, sensor data integration, and environment interaction for soft robots.

Main Methods:

• Overview of soft robot modeling techniques, including mechanical compliance calculation.
• Application of real-time Finite Element Method (FEM) for simulation.
• Development of generic inverse kinematics solutions under constraints.
• Integration of sensor data for model updating.
• Discussion of dynamic control algorithms based on mechanical models.

Main Results:

• FEM provides a powerful numerical method for real-time simulation and analysis of soft robot mechanics.
• Generic inverse kinematics solutions can be achieved without assumptions on robot morphology or actuator configurations.
• Model-based dynamic control enables robust positioning and interaction for soft robots.
• Sensor feedback enhances the accuracy and adaptability of soft robot models.

Conclusions:

• The Finite Element Method (FEM) is a versatile tool for soft robot simulation, control, and analysis.
• Generic modeling and control frameworks are crucial for advancing the field of soft robotics.
• Further research and open contributions are vital for the progression of soft robotics technology.