H2020Индивидуална стипендия2019–2021

EMISSR · Efficient Multibody Interactive Simulation for Soft Robotics

„Хоризонт 2020“ — Действия „Мария Склодовска-Кюри“

Период: 2019-01-14 → 2021-01-13
Финансиране от ЕС: 212 195 €
Участници: 1
Схема: MSCA-IF-EF-CAR

Линиите свързват координатора с партньорите.

Накратко на български

Мекият робот, изработен от силикон и задвижван от въздух или кабели, се симулира чрез нов софтуерен модел. Това позволява по-бързи и точни изчисления на движението на гъвкавите материали, без да се получават грешни резултати.

Този кратък обзор е генериран от изкуствен интелект

Кратко обяснение, генерирано от езиков модел по текста на CORDIS. Оригиналът е по-долу.

Резултати накратко

Efficient Multibody Interactive Simulation for Soft Robotics

The problem addressed is that of simulation of soft robots, in particular those made of silicone rubber and actuated by either air pressure or cables. There are three important aspects to this problem: accuracy, speed and flexibility. In terms of accuracy, I emphasized the fact that most traditional simulators cannot handle well incompressible materials like rubber. My method is based on the framework of the mixed finite element method (FEM). It can handle such situations and avoid a dangerous phenomenon called locking (which in brief means simply giving the wrong simulation results). I wrote a simulator in C++ and Python which can simulate the problem in several ways, some potentially faster than many of the existing commercial and open-source solutions. The code was published as open-source and available for anyone to use. It can be further optimized and already allows interactive and even real-time performance for some scenarios. Last, but not least, this simulator (and the theory behind it) allows for a flexible configuration well suited for many of the soft robotics scenarios . For example, one can choose between static and time-dependent simulation, add simple contacts or solver inverse dynamics problems.

Текст от CORDIS, на английски · Данни: CORDIS, © Европейски съюз

Цел на проекта

The aim of the EMISSR project is to create a novel multibody dynamics simulator for soft robotics. The originality of theproject consists in a unified constraint based formulation that can couple rigid and flexible bodies in the same solver. Theargument behind a simulator for soft robotics is the fact that traditional robots are not suitable for working in humans andtheir control has proven daunting especially for nonlinear underactuated systems. The new field of soft robotics is seeinggreat growth and investment around the globe and Europe needs to seize this economic opportunity. New dynamicssimulations and control algorithms are needed for soft robots, that are made up of soft parts and biology inspired actuators.EMISSR wants to fill in this gap and aims to become a testbed for training control policies based on machine learning andother algorithms. In terms of performance and accuracy, EMISSR will be a high-fidelity interactive simulator, meaning that itwill be extremely fast due to its multilevel solver and parallel implementation, while not sacrificing much of the accuracyneeded for soft robotics applications. The frictional contact and deformable continua models will not make any unphysicalapproximations. The elements that will distinguish EMISSR from other existing projects are: two-way coupling of rigid andsoft bodies, a fast multilevel iterative solver, stability for high mass ratios and transversal oscillations and robust contactinformation generation. These will be applied to making virtual replicas of soft robots (e.g. soft body parts, artificial musclesand tendons, pneumatic tubes), simulating their dynamics and testing machine learning based control policies for largenumbers of degrees of freedom. At the same time, the training programme that UCPH offers matches my careerdevelopment needs perfectly, allowing me to build upon my current competencies, not forgetting the opportunity to enhancemy academic profile and teaching experience.

Оригинален текст от CORDIS (на английски).

Участници

KOBENHAVNS UNIVERSITET · KOBENHAVNКоординаторДания