Modeling the dynamics of soft robots by discs and threads
Joshua A. Schultz,Haley Sanders,Phuc Duc Hong Bui,Brett Layer,Marc Killpack,Joshua A. Schultz,Haley Sanders,Phuc Duc Hong Bui,Brett Layer,Marc Killpack
In this paper, we propose a new tractable ordinary differential equation formulation for dynamic simulation of fabric- reinforced inflatable soft robots. The method performs a lumped-parameter discretization of the continuum robot into discrete discs (inertia), spring elements, and threads (representing the inextensible fabric reinforcement). Using the repetition in the structure of the Lagrangian...
