{"id":201,"date":"2015-10-02T17:33:36","date_gmt":"2015-10-02T17:33:36","guid":{"rendered":"http:\/\/project.inria.fr\/softrobot\/?page_id=201"},"modified":"2023-05-02T11:21:03","modified_gmt":"2023-05-02T11:21:03","slug":"examples-features","status":"publish","type":"page","link":"https:\/\/project.inria.fr\/softrobot\/examples-features\/","title":{"rendered":"Examples &#038; Features"},"content":{"rendered":"<table style=\"border-collapse: collapse;\">\n<tbody>\n<tr>\n<td><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/5-wpNLITPKQ\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><span data-mce-type=\"bookmark\" style=\"display: inline-block; width: 0px; overflow: hidden; line-height: 0;\" class=\"mce_SELRES_start\">\ufeff<\/span><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong><strong>Planning of Soft-rigid Hybrid Robots<br \/>\n<\/strong><\/strong><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Video demonstrating the research of the paper &#8220;<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9716745\" target=\"_blank\" rel=\"noopener\">Planning of soft-rigid Hybrid Arms in Contact with Compliant Environment<\/a>&#8221; presented at RoboSoft 2022. This demo is using SOFA with the SoftRobots.Inverse and ArticulatedSystem plugins. The simulations are available <a href=\"https:\/\/github.com\/SofaDefrost\/SoftRigidHybridArm\">here<\/a>.<\/span><\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/bf56moDDQPw\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><span data-mce-type=\"bookmark\" style=\"display: inline-block; width: 0px; overflow: hidden; line-height: 0;\" class=\"mce_SELRES_start\">\ufeff<\/span><span data-mce-type=\"bookmark\" style=\"display: inline-block; width: 0px; overflow: hidden; line-height: 0;\" class=\"mce_SELRES_start\">\ufeff<\/span><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong><strong>Anisotropic Soft Robots<br \/>\n<\/strong><\/strong><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Video demonstrating the research of the paper &#8220;<a href=\"https:\/\/hal.inria.fr\/hal-02475589\/document\" target=\"_blank\" rel=\"noopener\">Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation.<\/a>&#8221; presented at ICRA 2020. The SofaHighOrder plugin, distributed with SOFA, contains the components needed to simulate anisotropic material.\u00a0<\/span><\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/yFZxZ7KUnnM\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><span data-mce-type=\"bookmark\" style=\"display: inline-block; width: 0px; overflow: hidden; line-height: 0;\" class=\"mce_SELRES_start\">\ufeff<\/span><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong><strong>Sensor<br \/>\n<\/strong><\/strong><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Video demonstrating the research of the paper &#8220;<a href=\"https:\/\/hal.inria.fr\/hal-02882039\/document\" target=\"_blank\" rel=\"noopener\">A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics<\/a>&#8221; published in IEEE RA-L and presented at IROS 2020.<\/span><\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/JZpnO6YtxjU\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong>Locomotion &amp; Manipulation<br \/>\n<\/strong><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Video demonstrating the research of the paper &#8220;<a href=\"https:\/\/hal.inria.fr\/view\/index\/docid\/2079151\" target=\"_blank\" rel=\"noopener\">Soft robots locomotion and manipulation control using FEM simulation and quadratic programming<\/a>&#8221; presented at RoboSoft 2019.<\/span><\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/Zk0VrCltjX0\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><span data-mce-type=\"bookmark\" style=\"display: inline-block; width: 0px; overflow: hidden; line-height: 0;\" class=\"mce_SELRES_start\">\ufeff<\/span><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong>Continuum Manipulator<br \/>\n<\/strong>Defrost was part of the RoboSoft Grand Challenge 2018, and received the second place award of the manipulation challenge, for its continuum manipulator. The manipulator motion is controlled through simulation, using the inverse methods available in the SoftRobots.Inverse plugin.<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/K8Q5DwulCns\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong>Real-time Inverse Model with Contact Handling<br \/>\n<\/strong>Simulation and motion control of a tendon-driven soft robot interacting with its environment, and\u00a0with self-collision regions. The trunk-like robot is actuated with eight cables (two sections) and the motion of its tip is interactively controlled using our inverse methods. Related paper: &#8220;<a href=\"https:\/\/hal.inria.fr\/hal-01500912\/document\" target=\"_blank\" rel=\"noopener\">Optimization-Based Inverse Model of Soft Robots With Contact Handling<\/a>&#8220;<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/iQbSaFNWkAE\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong>SOFIA\u00a0&#8211; SOFt Insect Allterrain<br \/>\n<\/strong>SOFIA was designed, using simulation, for the terrestrian race of the RoboSoft Grand Challenge 2016.<\/td>\n<\/tr>\n<tr>\n<td><a href=\"http:\/\/project.inria.fr\/softrobot\/files\/2015\/10\/bigMamma.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-574 size-large\" src=\"http:\/\/project.inria.fr\/softrobot\/files\/2015\/10\/bigMamma-1024x671.png\" alt=\"bigMamma\" width=\"420\" height=\"315\" \/><\/a><\/td>\n<td style=\"width: 55%;\"><strong>Tendon-driven Soft Arm with Gripper<br \/>\n<\/strong>This tendon-driven soft arm is actuated with ten strings. We were able to control two positions of the robot (the tip and the\u00a0middle point) using a\u00a0<a href=\"https:\/\/en.wikipedia.org\/wiki\/Gametrak\" target=\"_blank\" rel=\"noopener\">gametrak<\/a> controller and our\u00a0inverse methods.<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/9JOCe2pf34o\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td style=\"width: 55%;\"><strong>Cable Actuation &#8211; Soft Gripper, Actuator Control (forward model)<br \/>\n<\/strong>The soft gripper is a simple grasper made of three deformable fingers. This example is an\u00a0interactive simulation of the gripper including its interaction with an object and its environment. In this simulation, one\u00a0can control the grasping actuator and the location of the soft gripper.<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/lSS2wlHwGF8\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td><strong>Cable Actuation\u00a0&#8211;\u00a0Diamond Robot, Effector Control (inverse model)<br \/>\n<\/strong>The diamond robot is a robot made of silicone and actuated with four cables. In this simulation, we can interactively control the end-effector (top of the robot) position. The scene can be associated to a real robot through the use of an Arduino board.<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/Se2VnN4B_KE\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td><strong>Cable Actuation\u00a0&#8211;\u00a0Soft Gripper, Effector Control (inverse model)<br \/>\n<\/strong>The soft gripper robot is composed of three fingers made of an elastic material and actuated with cables. In this simulation, we demonstrate that it is possible to interactively manipulate the robot by specifying the positions of fingertips.<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/vbE-r0hQJjc\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td><strong>Pneumatic &amp; Cable Actuation &#8211; Stanford Bunny, Effector Control (inverse model)<br \/>\n<\/strong>StanfordBunny simulation with pneumatic and cable actuation.\u00a0The controlled point on the model is shown by the green square, and its target by the orange sphere.<\/td>\n<\/tr>\n<tr>\n<td><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/j6QSfRqxVl8\" width=\"420\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/td>\n<td><strong>Pneumatic Actuation &#8211; Pneu Nets, Actuator Control (forward model)<br \/>\n<\/strong>In this simulation, we model and simulate the <a href=\"http:\/\/softroboticstoolkit.com\/book\/pneunets-bending-actuator\">PneuNets Bending Actuators<\/a> developed by the <a href=\"http:\/\/gmwgroup.harvard.edu\/\">Whitesides Research Group<\/a>\u00a0at Harvard. The pressure in the cavity is interactively set by a user.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>\ufeff Planning of Soft-rigid Hybrid Robots Video demonstrating the research of the paper &#8220;Planning of soft-rigid Hybrid Arms in Contact with Compliant Environment&#8221; presented at RoboSoft 2022. This demo is using SOFA with the SoftRobots.Inverse and ArticulatedSystem plugins. The simulations are available here. \ufeff\ufeff Anisotropic Soft Robots Video demonstrating the\u2026<\/p>\n<p> <a class=\"continue-reading-link\" href=\"https:\/\/project.inria.fr\/softrobot\/examples-features\/\"><span>Continue reading<\/span><i class=\"crycon-right-dir\"><\/i><\/a> <\/p>\n","protected":false},"author":850,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-201","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/pages\/201","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/users\/850"}],"replies":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/comments?post=201"}],"version-history":[{"count":30,"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/pages\/201\/revisions"}],"predecessor-version":[{"id":1112,"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/pages\/201\/revisions\/1112"}],"wp:attachment":[{"href":"https:\/\/project.inria.fr\/softrobot\/wp-json\/wp\/v2\/media?parent=201"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}