Section: New Software and Platforms

Soft robot plugin for sofa

Our contribution consists in a new framework to simulate and control soft robots. This framework is based on a mechanical modeling of the robot elements combined with fast real-time direct/inverse FEM solvers. The keypoint of our approach is that the same modeling is used for interactive simulation of its behavior and interactive control of the fabricated robots. This plugin is being developped in the ADT project SORBET.

Keywords: Simulation - Soft-Robot - Inverse models - Finite Element Method - Quadratic Programmings

• Participants: Eulalie Coevoet, Olivier Goury, Frédéric Largillière, Bruno Carrez, Damien Marchal, Jérémie Dequidt and Christian Duriez

• Contact: Eulalie Coevoet and Christian Duriez

• URL: https://project.inria.fr/softrobot/