机器人学
人工智能
机器人
计算机科学
绘图
计算力学
透视图(图形)
人机交互
管理科学
工程类
有限元法
结构工程
计算机图形学(图像)
作者
Costanza Armanini,Frédéric Boyer,Anup Teejo Mathew,Christian Duriez,Federico Renda
出处
期刊:IEEE Transactions on Robotics
[Institute of Electrical and Electronics Engineers]
日期:2023-06-01
卷期号:39 (3): 1728-1748
被引量:46
标识
DOI:10.1109/tro.2022.3231360
摘要
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics, and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.
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