Soft Robots Modeling: A Structured Overview

• Published in: IEEE transactions on robotics Vol. 39; no. 3; pp. 1728 - 1748
• Main Authors: Armanini, Costanza, Boyer, Frederic, Mathew, Anup Teejo, Duriez, Christian, Renda, Federico
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: and learning for soft robots; Computational mechanics; Computer graphics; Computer Science; Continuum mechanics; control; Dynamics; flexible robots; kinematics; Mathematical models; modeling; Numerical methods; Robot kinematics; Robotics; Robots; Soft robotics; Solid modeling; Strain; Stress; Tensors; Robotics (cs.RO); FOS: Computer and information sciences
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2022.3231360

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.