Motion Planning for Soft Robots

Motion Planning for Soft Robots

We examine a particular class of inflated-beam soft growing robots called “vine robots”, and present a dynamics simulator that captures general behaviors, handles robot-object interactions, and runs faster than real time. The simulator framework uses a simplified multi-link, rigid-body model with contact constraints.

We are currently working on expanding the dynamics model and integrating the simulator framework with motion planning strategies.

Related Papers

PDF A Dynamics Simulator for Soft Growing Robots
Rianna Jitosho, Nathaniel Agharese, Allison Okamura, and Zac Manchester
International Conference on Robotics and Automation (ICRA). Xi'an, China.


Rianna Jitosho
Motion Planning for Soft Robots
Zac Manchester
Assistant Professor
Last updated: 2021-01-14