Model-based optimization of tendon layouts for soft robots

James M. Bern, Luca Lavarini, Roi Poranne, Stelian Coros

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Soft robots are capable of a wide range of motions involving large deformations throughout their entire bodies. This flexibility enriches the space of possible motions such robots can create, promising to solve manipulation and locomotion problems in new and exciting ways [1]. In this work we focus specifically on tendon-actuated soft robots, like those in [2]. The space of motions such a robot can achieve is a highly nonlinear function of its tendon layout. In this work we attack the challenging inverse design problem of automatically generating physically-realizable tendon layouts capable for user-specified target motions.
Original languageEnglish
Title of host publicationSRMC@IROS18
Place of PublicationCambridge, MA
PublisherMassachusetts Institute of Technology
StatePublished - Oct 2018


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