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Journal Articles IEEE Robotics and Automation Letters Year : 2022

FEM-Based Exterior Workspace Boundary Estimation for Soft Robots via Optimization

Abstract

This paper investigates the exterior workspace boundary of a soft robot with a certain configuration controlled by equipped bounded actuators. To achieve this, we implement an optimization-based approach on the studied soft robot which has been modeled by the Finite Element Method (FEM). Finally, we provide numerical simulations of various configurations to demonstrate the validity of the suggested technique, which, in comparison to the conventional forward method, may considerably minimize the complexity of exterior workspace boundary estimation.
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Dates and versions

hal-03912826 , version 1 (01-01-2023)

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Walid Amehri, Gang Zheng, Alexandre Kruszewski. FEM-Based Exterior Workspace Boundary Estimation for Soft Robots via Optimization. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.3672-3678. ⟨10.1109/LRA.2022.3147890⟩. ⟨hal-03912826⟩
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