Software toolkit for modeling, simulation and control of soft robots

Article English OPEN
Coevoet , Eulalie; Morales-Bieze , Thor; Largilliere , Frederick; Zhang , Zhongkai; Thieffry , Maxime; Sanz-Lopez , Mario; Carrez , Bruno; Marchal , Damien; Goury , Olivier; Dequidt , Jeremie; Duriez , Christian;
  • Publisher: Taylor & Francis
  • Subject: 3D | Dynamics | [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation | Finite Element Method | [ INFO.INFO-MO ] Computer Science [cs]/Modeling and Simulation | Simulation | Inverse models | Kinematics | [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO] | Soft-robot | [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
    arxiv: Computer Science::Robotics

International audience; The technological differences between traditional robotics and soft robotics have an impact on all of the modeling tools generally in use, including direct kinematics and inverse models, Jacobians, and dynamics. Due to the lack of precise modelin... View more
  • References (31)
    31 references, page 1 of 4

    [1] M. Cianchetti, T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer, P. Dasgupta, and A. Menciassi, \Soft robotics technologies to address shortcomings in today's minimally invasive surgery: The sti - op approach," Soft robotics, vol. 1, no. 2, 2014.

    [2] H. Lipson, \Challenges and opportunities for design, simulation, and fabrication of soft robots," Journal of soft robotics, vol. 1, no. 1, 2014.

    [3] N. Koenig and A. Howard, \Design and use paradigms for gazebo, an open-source multirobot simulator," in Proceeding of the conference on Intelligent Robots and Systems. (IROS)., vol. 3, 2004.

    [4] D. Trivedi, C. D. Rahn, W. M. Kier, and I. D. Walker, \Soft robotics: Biological inspiration, state of the art, and future research," Applied bionics and biomechanics, vol. 5, no. 3, 2008.

    [5] S. Kim, C. Laschi, and B. Trimmer, \Soft robotics: A bioinspired evolution in robotics," Trends in biotechnology, vol. 31, no. 5, 2013.

    [6] D. Rus and M. T. Tolley, \Design, fabrication and control of soft robots," Nature, vol. 521, no. 7553, 2015.

    [7] E. Coevoet, N. Reynaert, E. Lartigau, L. Schiappacasse, J. Dequidt, and C. Duriez, \Introducing interactive inverse FEM simulation and its application for adaptive radiotherapy," in Proceeding of the Conference on Medical Image Computing and ComputerAssisted Intervention (MICCAI), 2014.

    [8] C. Duriez, \Control of elastic soft robots based on real-time nite element method," in IEEE International Conference on Robotics and Automation (ICRA), 2013.

    [51] Comsol. [Online]. Available:

    [52] Voxelyze. [Online]. Available:

  • Related Research Results (2)
  • Metrics
    views in OpenAIRE
    views in local repository
    downloads in local repository
Share - Bookmark