Simulation of soft robots with nonlinear material behavior using the cosserat rod theory

Summary

For the simulation and model-based control of soft robots accurate models are required. In this contribution the simulation of a simple soft robot with the cosserat rod theory is examined for both linear and nonlinear material models. The soft robot is fabricated out of silicone. Thereby stiffness and damping properties are investigated. In addition to the achievable accuracy, the computation time is also examined.

Abstract

Full Paper