Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators
Manu Lahariya,Craig Innes,Chris Develder,Subramanian Ramamoorthy,Manu Lahariya,Craig Innes,Chris Develder,Subramanian Ramamoorthy
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate Finite Element Method (FEM) models incur prohibitive computational complexity for closed-loop use. Using a differentiable simulator is an attractive alternative,...
