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Physics-based modeling of deformable robots for real-time simulation and control

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If you have a question about this talk, please contact Fulvio Forni.

Continuum mechanics provide accurate mechanical models for deformable solids. Numerical tools, like the Finite Element Methods (FEM), solve the partial differential equations with the major drawback of being time consuming. This presentation will show that there are some solutions to make FEM models fast enough to be compatible with real-time simulation and control methods, that can be also mixed with learning approach. For soft robotics, this provides a very powerful tool to help the design and the control, in particular for complex interaction with the environment. We will also show that this work can be mixed with more standard articulated and rigid models. Finally we will present quickly our software platform and the performance of this approach for modeling, simulation and control of soft-robots.

The seminar will be held in LR5 , Baker Building, Department of Engineering, and online (zoom): https://us06web.zoom.us/j/87986687566?pwd=MGJScmMwd2lwT0tVMHNmWmxSa05XZz09

This talk is part of the CUED Control Group Seminars series.

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