---
_id: '6195'
abstract:
- lang: eng
text: In the context of robotic manipulation and grasping, the shift from a view
that is static (force closure of a single posture) and contact-deprived (only
contact for force closure is allowed, everything else is obstacle) towards a view
that is dynamic and contact-rich (soft manipulation) has led to an increased interest
in soft hands. These hands can easily exploit environmental constraints and object
surfaces without risk, and safely interact with humans, but present also some
challenges. Designing them is difficult, as well as predicting, modelling, and
“programming” their interactions with the objects and the environment. This paper
tackles the problem of simulating them in a fast and effective way, leveraging
on novel and existing simulation technologies. We present a triple-layered simulation
framework where dynamic properties such as stiffness are determined from slow
but accurate FEM simulation data once, and then condensed into a lumped parameter
model that can be used to fast simulate soft fingers and soft hands. We apply
our approach to the simulation of soft pneumatic fingers.
article_number: '8461106'
article_processing_charge: No
author:
- first_name: Maria
full_name: Pozzi, Maria
last_name: Pozzi
- first_name: Eder
full_name: Miguel Villalba, Eder
id: 3FB91342-F248-11E8-B48F-1D18A9856A87
last_name: Miguel Villalba
orcid: 0000-0001-5665-0430
- first_name: Raphael
full_name: Deimel, Raphael
last_name: Deimel
- first_name: Monica
full_name: Malvezzi, Monica
last_name: Malvezzi
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
- first_name: Oliver
full_name: Brock, Oliver
last_name: Brock
- first_name: Domenico
full_name: Prattichizzo, Domenico
last_name: Prattichizzo
citation:
ama: 'Pozzi M, Miguel Villalba E, Deimel R, et al. Efficient FEM-based simulation
of soft robots modeled as kinematic chains. In: IEEE; 2018. doi:10.1109/icra.2018.8461106'
apa: 'Pozzi, M., Miguel Villalba, E., Deimel, R., Malvezzi, M., Bickel, B., Brock,
O., & Prattichizzo, D. (2018). Efficient FEM-based simulation of soft robots
modeled as kinematic chains. Presented at the ICRA: International Conference on
Robotics and Automation, Brisbane, Australia: IEEE. https://doi.org/10.1109/icra.2018.8461106'
chicago: Pozzi, Maria, Eder Miguel Villalba, Raphael Deimel, Monica Malvezzi, Bernd
Bickel, Oliver Brock, and Domenico Prattichizzo. “Efficient FEM-Based Simulation
of Soft Robots Modeled as Kinematic Chains.” IEEE, 2018. https://doi.org/10.1109/icra.2018.8461106.
ieee: 'M. Pozzi et al., “Efficient FEM-based simulation of soft robots modeled
as kinematic chains,” presented at the ICRA: International Conference on Robotics
and Automation, Brisbane, Australia, 2018.'
ista: 'Pozzi M, Miguel Villalba E, Deimel R, Malvezzi M, Bickel B, Brock O, Prattichizzo
D. 2018. Efficient FEM-based simulation of soft robots modeled as kinematic chains.
ICRA: International Conference on Robotics and Automation, 8461106.'
mla: Pozzi, Maria, et al. Efficient FEM-Based Simulation of Soft Robots Modeled
as Kinematic Chains. 8461106, IEEE, 2018, doi:10.1109/icra.2018.8461106.
short: M. Pozzi, E. Miguel Villalba, R. Deimel, M. Malvezzi, B. Bickel, O. Brock,
D. Prattichizzo, in:, IEEE, 2018.
conference:
end_date: 2018-05-25
location: Brisbane, Australia
name: 'ICRA: International Conference on Robotics and Automation'
start_date: 2018-05-21
date_created: 2019-04-04T09:50:38Z
date_published: 2018-09-10T00:00:00Z
date_updated: 2023-09-19T14:49:03Z
day: '10'
department:
- _id: BeBi
doi: 10.1109/icra.2018.8461106
external_id:
isi:
- '000446394503031'
isi: 1
language:
- iso: eng
month: '09'
oa_version: None
publication_identifier:
isbn:
- '9781538630815'
publication_status: published
publisher: IEEE
quality_controlled: '1'
scopus_import: '1'
status: public
title: Efficient FEM-based simulation of soft robots modeled as kinematic chains
type: conference
user_id: c635000d-4b10-11ee-a964-aac5a93f6ac1
year: '2018'
...