Obtaining an accurate mechanical model of a soft deformable robot compatible with the computation time imposed by robotic applications is often considered as an unattainable goal. This work implemented by Dr. Olivier Goury offers the possibility to dramatically reduce the size and the online computation time of a Finite Element Model (FEM), in this case of a soft robot.
Applied on a soft robot model, hyper-reduction computes the reduced degrees of freedom based on pre-determined external loads (contact, friction, gravity…) during the offline simulations. Then, the method is validated on two very different examples of FE models of soft robots and on one real soft robot.
- Date 5 September 2018
- Tags Mechanics, Non-mechanics, Robotics