A material-based model for the simulation and control of soft robot actuator

Constantina Lekakou, Seri Mastura Mustaza, Tom Crisp, Yahya Elsayed, C. M. Saaj

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An innovative material-based model is described for a three-pneumatic channel, soft robot actuator and implemented in simulations and control. Two types of material models are investigated: a soft, hyperelastic material model and a novel visco-hyperelastic material model are presented and evaluated in simulations of one-channel operation. The advanced viscohyperelastic model is further demonstrated in control under multi-channel actuation. Finally, a soft linear elastic material model was used in finite element analysis of the soft three-pneumatic channel actuator within SOFA, moving inside a pipe and interacting with its rigid wall or with a soft hemispherical object attached to that wall. A collision model was used for these interactions and the simulations yielded “virtual haptic” 3d-force profiles at monitored nodes at the free- and fixed-end of the actuator.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings
PublisherSpringer Verlag
Pages557-569
Number of pages13
Volume10454 LNAI
ISBN (Print)9783319641065
DOIs
Publication statusPublished - 2017
Externally publishedYes
Event18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017 - Guildford, United Kingdom
Duration: 19 Jul 201721 Jul 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10454 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017
CountryUnited Kingdom
CityGuildford
Period19/7/1721/7/17

Fingerprint

Actuator
Actuators
Robot
Robots
Simulation
Hyperelastic Material
Pneumatics
Model
Haptics
Elastic Material
Collision
Pipe
Finite Element
Finite element method
Vertex of a graph
Interaction

Keywords

  • Elastic material
  • Hyperelastic material
  • SOFA
  • Visco-hyperelastic material

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Lekakou, C., Mustaza, S. M., Crisp, T., Elsayed, Y., & Saaj, C. M. (2017). A material-based model for the simulation and control of soft robot actuator. In Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings (Vol. 10454 LNAI, pp. 557-569). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10454 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-64107-2_45

A material-based model for the simulation and control of soft robot actuator. / Lekakou, Constantina; Mustaza, Seri Mastura; Crisp, Tom; Elsayed, Yahya; Saaj, C. M.

Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. Vol. 10454 LNAI Springer Verlag, 2017. p. 557-569 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10454 LNAI).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lekakou, C, Mustaza, SM, Crisp, T, Elsayed, Y & Saaj, CM 2017, A material-based model for the simulation and control of soft robot actuator. in Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. vol. 10454 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10454 LNAI, Springer Verlag, pp. 557-569, 18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017, Guildford, United Kingdom, 19/7/17. https://doi.org/10.1007/978-3-319-64107-2_45
Lekakou C, Mustaza SM, Crisp T, Elsayed Y, Saaj CM. A material-based model for the simulation and control of soft robot actuator. In Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. Vol. 10454 LNAI. Springer Verlag. 2017. p. 557-569. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-64107-2_45
Lekakou, Constantina ; Mustaza, Seri Mastura ; Crisp, Tom ; Elsayed, Yahya ; Saaj, C. M. / A material-based model for the simulation and control of soft robot actuator. Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. Vol. 10454 LNAI Springer Verlag, 2017. pp. 557-569 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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