This work presents a method to control a soft-robots based on an accurate FEM deformable representation of this robot. This generic solution enables a high-rate control and is compatible with strong real-time constraints. The FEM model is computed at low rate whereas the control loop runs at high rate. This inverse model for soft robotics is developed by Christian Duriez.
Related paper here.
- Date 14 October 2015
- Tags Multithreading, Soft Robotics