Research Progress on the Modeling and Computation of Soft Robotic Dynamics
Traditional robots comprised of rigid components are usually hard to adapt to different environment and would be dangerous when interacting with humans.Inspired by nature,soft robots exhibit exceptional flexibility and adaptability.However,due to their numerous degrees of freedom,optimizing and controlling soft robots pose challenges.Mechanics-based modeling and numerical simulation offer insights into guiding soft robot design and manufacturing.This article focuses on recent advances in soft robot dynamic simulation,emphasizing structural modeling methods and interactive simulation methods in theoretical calculations.For structural modeling methods,we begin with three-dimensional models,by introducing the static models,deformable frameworks,and differentiable projected dynamics.Moving on to plate and shell models,we explore the classic Kirchhoff-Love plate models and discrete shell models.Then,we delve into simplified models,covering basic model theories such as piecewise constant curvature model,Cosserat rod models,and absolute nodal coordinate methods.We also introduce the central parameter models,which are widely used for physical modeling.Case studies of exemplary works help investigate the advantages and limitations of these simplified models.In the interactive simulation techniques,focusing on the dynamic simulations,we integrate previous sections on the interaction models,discussing external environmental interaction and external field-driven interaction.We address challenges and strategies in the dynamic simulations of soft robots.Our aim is to provide novel dynamic simulation approaches to robotic developers,enhancing simulation accuracy and providing theoretical support for optimized design and online control of soft robots.
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