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For the simulation and model-based control of soft robots accurate models are required. In this contribution the simulation of a simple soft robot with the cosserat rod theory is examined for both linear and nonlinear material models. The soft robot is fabricated out of silicone. Thereby stiffness and damping properties are investigated. In addition to the achievable accuracy, the computation time is also examined. | For the simulation and model-based control of soft robots accurate models are required. In this contribution the simulation of a simple soft robot with the cosserat rod theory is examined for both linear and nonlinear material models. The soft robot is fabricated out of silicone. Thereby stiffness and damping properties are investigated. In addition to the achievable accuracy, the computation time is also examined. | ||
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| + | <pdf>Media:Draft_Sanchez Pinedo_595609485742_abstract.pdf</pdf> | ||
Revision as of 10:24, 23 November 2022
Summary
For the simulation and model-based control of soft robots accurate models are required. In this contribution the simulation of a simple soft robot with the cosserat rod theory is examined for both linear and nonlinear material models. The soft robot is fabricated out of silicone. Thereby stiffness and damping properties are investigated. In addition to the achievable accuracy, the computation time is also examined.
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Published on 24/11/22
Accepted on 24/11/22
Submitted on 24/11/22
Volume Computational Solid Mechanics, 2022
DOI: 10.23967/eccomas.2022.252
Licence: CC BY-NC-SA license
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