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http://hdl.handle.net/10261/219259
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Campo DC | Valor | Lengua/Idioma |
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dc.contributor.author | Martín-Barrio, Andrés | es_ES |
dc.contributor.author | Terrile, Silvia | es_ES |
dc.contributor.author | Diaz-Carrasco, M.Sacramento | es_ES |
dc.contributor.author | Cerro, Jaime del | es_ES |
dc.contributor.author | Barrientos, Antonio | es_ES |
dc.date.accessioned | 2020-09-08T06:58:30Z | - |
dc.date.available | 2020-09-08T06:58:30Z | - |
dc.date.issued | 2020-05-21 | - |
dc.identifier.citation | Computer Graphics Forum 0: 1-14 (2020) | es_ES |
dc.identifier.issn | 0167-7055 | - |
dc.identifier.uri | http://hdl.handle.net/10261/219259 | - |
dc.description.abstract | Modelling soft robots is a non-trivial task since their behaviours rely on their morphology, materials and surrounding elements.These robots are very useful to safely interact with their environment and because of their inherent exibility and adaptability skills. However, they are usually very hard to model because of their intrinsic non-linearities. This fact presents a unique challenge in the computer graphics and simulation scopes. Current trends in these elds tend to narrow the gap between virtual and real environments. This work will explain a challenging modelling process for a cable-driven soft robot called Kyma. For this purpose, the real-time Finite Element Method (FEM) is applied using the Simulation Open Framework Architecture. And two methods are implemented and compared to optimize the model efciency: a heuristic one and the Model Order Reduction. Both models are also validated with the real robot using a precise motion tracking system. Moreover, an analysis of robot–object interactions is proposed to test the compliance of the presented soft manipulator. As a result, the real-time FEM emerges as a good solution to accurately and efciently model the presented robot while also allowing to study the interactions with its environment | es_ES |
dc.description.sponsorship | This research has been supported by RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by “Programas de Actividades I+D en la Comunidad de Madrid” and co-funded by Structural Funds of the EU. And also by the Program project VJIDOCUPM18JCG from Universidad Politécnica de Madrid. | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | John Wiley & Sons | es_ES |
dc.relation | S2018/NMT-4331/RoboCity2030-DIH-CM | - |
dc.relation.isversionof | Publisher's version | es_ES |
dc.rights | openAccess | en_EN |
dc.subject | Modeling | es_ES |
dc.subject | Finite-Element Method | es_ES |
dc.subject | Soft robots | es_ES |
dc.subject | Interactions | es_ES |
dc.title | Modelling the Soft Robot Kyma Based on Real-Time Finite Element Method | es_ES |
dc.type | artículo | es_ES |
dc.identifier.doi | 10.1111/cgf.14026 | - |
dc.description.peerreviewed | Peer reviewed | es_ES |
dc.identifier.e-issn | 1467-8659 | - |
dc.contributor.funder | Comunidad de Madrid | es_ES |
dc.contributor.funder | Universidad Politécnica de Madrid | es_ES |
dc.relation.csic | Sí | es_ES |
oprm.item.hasRevision | no ko 0 false | * |
dc.identifier.funder | http://dx.doi.org/10.13039/501100003759 | es_ES |
dc.identifier.funder | http://dx.doi.org/10.13039/100012818 | es_ES |
dc.contributor.orcid | Martín-Barrio, Andrés [0000-0002-2051-9155] | es_ES |
dc.contributor.orcid | Terrile, Silvia [0000-0003-3900-4108] | es_ES |
dc.contributor.orcid | Cerro, Jaime del [0000-0003-4893-2571] | es_ES |
dc.contributor.orcid | Barrientos, Antonio [0000-0003-1691-3907] | es_ES |
dc.type.coar | http://purl.org/coar/resource_type/c_6501 | es_ES |
item.openairetype | artículo | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.grantfulltext | none | - |
item.fulltext | No Fulltext | - |
item.languageiso639-1 | en | - |
item.cerifentitytype | Publications | - |
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