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dc.contributor.authorFrâncu, Mihailen_US
dc.contributor.editorTheisel, Holger and Wimmer, Michaelen_US
dc.date.accessioned2021-04-09T18:20:18Z
dc.date.available2021-04-09T18:20:18Z
dc.date.issued2021
dc.identifier.isbn978-3-03868-133-5
dc.identifier.issn1017-4656
dc.identifier.urihttps://doi.org/10.2312/egs.20211011
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/egs20211011
dc.description.abstractIn this paper we present a framework for modeling cable-driven soft robots fabricated from silicone rubber - an incompressible material. Our forward simulation model can use either the standard or the mixed formulation of the finite element method (FEM). The latter prevents volumetric locking for incompressible materials and is more accurate for low resolution meshes. Hence, we show that mixed FEM is well suited for estimating elastic parameters and simulator validation. We also introduce a cable actuation model using barycentric coordinates and then use it to solve some simple control problems.en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectComputing methodologies
dc.subjectPhysical simulation
dc.subjectComputer systems organization
dc.subjectRobotics
dc.titleModeling and Actuation of Cable-driven Silicone Soft Robotsen_US
dc.description.seriesinformationEurographics 2021 - Short Papers
dc.description.sectionheadersModeling and Rendering
dc.identifier.doi10.2312/egs.20211011
dc.identifier.pages9-12


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