Model Reduction in Soft Robotics Using Locally Volume-Preserving Primitives

Introduction

This is the MATLAB implementation for the reduced-order modeling of soft robots using closed-form locally volume-preserving deformation primitives. We focus on developing and applying primitive deformations that each observe the locally volume preserving constraint. By composing a wide enough variety of such deformations, many of the most common behaviors observed in soft robots can be replicated.

• Paper: IEEE Robotics and Automation Letters (RA-L)

Scripts

The codes calculate the mode parameters that satisfy the given boundary conditions for each case.

• Chamber.m: For Chambers, as Fig. 4(1) in the paper.
• PlanarRod.m: For rods bending in 2D on a horizontal plane (no gravity), as Fig. 4(2) in the paper.
• ThreeDRod.m: For rods bending in 3D space (neglect gravity), as Fig. 4(3) in the paper.
• RodGravity.m: For rods bending in 2D on a vertical plane (with gravity), as Fig. 4(4) in the paper.
• BlockandFilm.m: For blocks and thin films, as Fig. 4(5) and Fig. 4(6) in the paper.
• StrainEnergy_Analytical.m: This computes the analytical strain energy density function.
• GetWeightMatrix.m: This computes the weight matrix in pseudoinverse, as described in paper section 2D.