SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Magazine Année : 2022

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Résumé

oft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This article introduces a user-friendly MATLAB toolbox, Soft Robot Simulator (SoRoSim), that integrates the geometric variable-strain (GVS) model of Cosserat rods to facilitate the static and dynamic analysis of soft, rigid, and hybrid robotic systems. We present a brief overview of the design and structure of the toolbox and validate it by comparing its results with those published in the literature. To highlight the toolbox's potential to efficiently model, simulate, optimize, and control various robotic systems, we demonstrate four sample applications. The demonstrated applications explore different actuator and external loading conditions of single-, branched-, open-, and closed-chain robotic systems. We think that the soft robotics research community will significantly benefit from the SoRoSim toolbox for a wide variety of applications.
Fichier principal
Vignette du fichier
SoRoSim_A_MATLAB_Toolbox_for_Hybrid_Rigid-Soft_Rob.pdf (2.8 Mo) Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte

Dates et versions

hal-04334630 , version 1 (11-12-2023)

Identifiants

Citer

Anup Teejo Mathew, Ikhlas Ben Hmida, Costanza Armanini, Frederic Boyer, Federico Renda. SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach. IEEE Robotics and Automation Magazine, 2022, 30 (3), pp.106 - 122. ⟨10.1109/mra.2022.3202488⟩. ⟨hal-04334630⟩
178 Consultations
74 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More