Direct and inverse modeling of soft robots by learning a condensed FEM model
Etienne Ménager,Tanguy Navez,Olivier Goury,Christian Duriez,Etienne Ménager,Tanguy Navez,Olivier Goury,Christian Duriez
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the computation to make it real-time. In this paper, we propose a learning-based approach to obtain a compact but sufficiently rich mechanical representation. Our choice is ...
