Model-based optimization of tendon layouts for soft robots

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

Model-based optimization of tendon layouts for soft robots

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

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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 language	English
Title of host publication	SRMC@IROS18
Place of Publication	Cambridge, MA
Publisher	Massachusetts Institute of Technology
Pages	1-3
State	Published - Oct 2018

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Cite this

@inproceedings{a0de8ca5186d4e52ab7bd4231f962168,

title = "Model-based optimization of tendon layouts for soft robots",

abstract = "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.",

author = "Bern, {James M.} and Luca Lavarini and Roi Poranne and Stelian Coros",

year = "2018",

month = oct,

language = "English",

pages = "1--3",

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publisher = "Massachusetts Institute of Technology",

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TY - GEN

T1 - Model-based optimization of tendon layouts for soft robots

AU - Bern, James M.

AU - Lavarini, Luca

AU - Poranne, Roi

AU - Coros, Stelian

PY - 2018/10

Y1 - 2018/10

N2 - 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.

AB - 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.

M3 - Conference contribution

SP - 1

EP - 3

BT - SRMC@IROS18

PB - Massachusetts Institute of Technology

CY - Cambridge, MA

ER -

Model-based optimization of tendon layouts for soft robots

Abstract

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