3 August 2019 at 20 h 38 min #14059
Any soft robot devs here who I can ask for some help? I am a bit lost on the tutorial and need a bit of help. Thanx in advance3 August 2019 at 20 h 47 min #14061Damien MarchalParticipant
- CNRS/Defrost Team
yes 😉3 August 2019 at 20 h 51 min #14062
So right now i have a few questions.
My first question is I saw some videos posted on the website where the soft robot moves exactly like the simulation. So is it connected somehow to the computer making the computer the controller of the soft robot?
My second question is if I have a soft robot fabricated with different material layer how exactly do I specify it. Is it done while generating the mesh diagram?
Thanx in advance5 August 2019 at 21 h 30 min #14064
any updates?13 August 2019 at 18 h 07 min #14099
Sorry for the delay, I guess Damien is currently away.
In the video you saw, the simulation computes the forces to send to the actuators/motors. So the answer is yes.
For your second question, this can be specified in the “ForceField” in SOFA where you can associate to each tetrahedron a different stiffness value.
Hugo4 September 2019 at 18 h 51 min #14206
So how does it send the forces to the actuators. Is it by the means of Arduino?
If any tutorial video/ link on how to do that is there, it would be great4 September 2019 at 21 h 36 min #1420711 September 2019 at 21 h 33 min #14232
Is Damien available for help or probably any other soft robotics dev?
It would be great if I could get this thing cleared out.
Thanx in advance12 September 2019 at 9 h 40 min #14233
Let me poke Damien for you.
He will reply here in the forum regarding your previous question.
Hugo12 September 2019 at 10 h 38 min #14234Damien MarchalParticipant
- CNRS/Defrost Team
Hi @sayan, sorry to reply late, thank @hugo for the poke.
So to answer your first question, yes we are connecting physical robots to Sofa.
The simplest technical solution is to use USB->Arduino->motors. You can find pieces of explanation for this part in our tutoring web site: http://handsonsoftrobotics.lille.inria.fr/
Once you have an Arduino board there is a Sofa component you add in your simulation that will handle the communication.
About your second question about having soft robot fabricated with different material layer how exactly do we specify it. There is multiple approach, one consist in using a single mesh (tetrahedral/hexahedral) with different material properties in the different tetrahedral ‘cells’. The other approach is to mix different modelling like: FEM for one material, then Beam for a stiff spring, and connect all that thanks to sofa mapping and/or constraints.
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