Coupling Numerical Deformable Models in Global and Reduced Coordinates for the Simulation of the Direct and the Inverse Kinematics of Soft Robots

In this letter, we propose a method to combine the Finite Element Method (FEM) with Discrete Cosserat Modeling (DCM) capture mechanics and actuation of soft robots. The FEM is used simulate non-linear behavior volume structure while cable/rod for modeled using DCM. two models are linked kinematic constraints without imposing meshing rules. We demonstrate that both direct inverse can be obtained by quadratic optimization. originality coupling model uses global coordinates (the position nodes its mesh in space) where local (successive strain values). these mechanical allows best each parametrization. On one hand, robot accounting geometry complex mesh. other DCM efficient modeling 1D structures such as rods, (concentric) tubes, cables, etc. deform handles large deformation, torsion (in)-extensibility compute. Moreover, approach compatible complementarity introduced when contact friction environment well self-collision.