69778 20191212100703.0 doi 10.1371/journal.pone.0192052 sideral 104924 ART-2018-104924 eng Chenevier, J. Reduced-order modeling of soft robots 2018 Access copy available to the general public Unrestricted We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method. info:eu-repo/grantAgreement/ES/CICYT/DPI2014-51844-C2-1-R info:eu-repo/grantAgreement/ES/MINECO/DPI2015-72365-EXP info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ 2.776 2018 MULTIDISCIPLINARY SCIENCES 23 / 69 = 0.333 2018 Q2 T2 1.1 2018 Agricultural and Biological Sciences (miscellaneous) 2018 Q1 Medicine (miscellaneous) 2018 Q1 Biochemistry, Genetics and Molecular Biology (miscellaneous) 2018 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion (orcid)0000-0003-3003-5856 Gonzalez, D. Universidad de Zaragoza Aguado, J.V. Chinesta, F. (orcid)0000-0003-1017-4381 Cueto, E. Universidad de Zaragoza 5004 605 Universidad de Zaragoza Dpto. Ingeniería Mecánica Área Mec.Med.Cont. y Teor.Est. 13, 2 (2018), e0192052[15 pp] PLoS One PloS one 1932-6203 1309877 http://zaguan.unizar.es/record/69778/files/texto_completo.pdf Versión publicada 44307 http://zaguan.unizar.es/record/69778/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:69778 articulos driver 2019-12-12-10:05:35 ARTICLE