Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body

In recent years, research and development of robots that exist in the same space as humans can collaborate with have been actively carried out. If body a robot is made hard material, it may cause injury. Therefore, attempts to make soft using rubber or resin. order accelerate such on robotics, necessary establish fast stable simulation algorithm for containing viscoelastic bodies this study, we consider approximate finite rigid segments connect them joints linear elements Voigt model, Maxwell model generalized properties. The recursive dynamics used speed up calculation, generalized-α method stabilize numerical integration. particular, propose new how incorporate into method. effectiveness proposed confirmed by some examples. addition, verified real system applying Particle Swarm Optimization (PSO) identify dynamic parameters elements.