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Creators/Authors contains: "Macklin, Miles"

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  1. ; ; ; ; ; ; (, International Conference on Robotics and Automation)
    In this work, we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback. 
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    Accepted Manuscript Full Text Available