Motion Planning for Soft Robots
We examine a particular class of inflated-beam soft growing robots called “vine robots”, and present a dynamics simulator that captures general behaviors, handles robot-object interactions, and runs faster than real time. The simulator framework uses a simplified multi-link, rigid-body model with contact constraints.
We are currently working on expanding the dynamics model and integrating the simulator framework with motion planning strategies.
Related Papers
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2021 May |
A Dynamics Simulator for Soft Growing Robots
International Conference on Robotics and Automation (ICRA). Xi'an, China. |
People
Rianna Jitosho
Motion Planning for Soft Robots
Zac Manchester
Assistant Professor