Real-Time Simulation for Control of Soft Robots With Self-Collisions Using Model Order Reduction for Contact Forces

In rigid robotics, self-collision are usually avoided since it leads to a failure in the robot control and can also cause damage. soft situation is very different, self-collisions may even be desirable property, for example gain artificial stiffness or provide natural limitation workspace. However, modeling simulation of costly as requires first collision detection algorithm detect where collisions occur, most importantly, solving constrained problem avoid interpenetrations. When number contact points large, this computation slows down dramatically. letter, we apply numerical method alleviate response by reducing space low-dimensional positive obtained from experiments. We show good accuracy while speeding up dramatically simulation. on cable-actuated finger continuum manipulator performing exploration. that reduced proposed used inverse modeling. The therefore design.