Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Results

Toward Shape Optimization of Soft Robots

This year, we obtained new results on shape optimization for soft robotics where the shape is optimized for a given soft robot usage. To obtain a parametric optimization with a reduced number of parameters, we relied on an approach where the designer progressively refines the parameter space and the fitness function until a satisfactory design is obtained. In our approach, we automatically generate FEM simulations of the soft robot and its environment to evaluate a fitness function while checking the consistency of the solution. Finally, we have coupled our framework to an evolutionary optimization algorithm, and demonstrated its use for optimizing the design of a deformable leg of a locomotive robot. A paper presenting the approach was accepted at IEEE/International Conference On Soft-Robotics2019 [29].

Figure 4. Initial shape (labelled 0) for the optimization and different shapes (labelled 1 to 6) obtained by numerical experiments. Pictures represents the robot with the legs and the test best that has been used to verify the accuracy of the simulation
IMG/basic.png IMG/1_torq_9_19_9pts.png IMG/2_torq_10_20_4pts.png IMG/3_torq_15_32_4pts.png IMG/4_torq_15_32_9_pts_run1.png IMG/5_torq_2525_46_9pts_run1.png IMG/6_torq_29_53_9pts.png IMG/robot4_reduit.png IMG/bench4.png