Section: New Software and Platforms

Soft-robot plugin for Sofa

Soft-robot plugin for Sofa

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

Functional Description The soft-robot plugin consists in a new framework to simulate and control soft robots. This framework is based on a mechanical modeling of the robot elements in Sofa combined with fast real-time direct/inverse FEM solvers.

The keypoint of the approach implemented is that the same modeling is used for interactive simulation of its behavior and interactive control of the fabricated robots. This plugin was developped during the ADT project SORBET that ended in 09/2016.

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

• Contact: Eulalie Coevoet and Christian Duriez

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