Bulletin of the American Physical Society
2023 APS March Meeting
Volume 68, Number 3
Las Vegas, Nevada (March 5-10)
Virtual (March 20-22); Time Zone: Pacific Time
Session Q10: Robophysics I
3:00 PM–6:00 PM,
Wednesday, March 8, 2023
Room: Room 202
Sponsoring
Unit:
DBIO
Chair: Daniel Goldman, Georgia Tech
Abstract: Q10.00004 : Kraken – A Multiphysics Soft Robot Simulation Platform
4:00 PM–4:12 PM
Author not Attending
Presenter:
Kevin Wandke
(University of Illinois Urbana Champaign)
Authors:
Kevin Wandke
(University of Illinois Urbana Champaign)
Y Z
(University of Michigan)
The field of soft robotics has offered an opportunity to build both biologically inspired robots, as well as robots compliant with living organisms. However, a lack of efficient modeling and simulation platforms has slowed the growth of this field and prevented the widespread adoption of soft robots. By building off Idaho National Lab’s MOOSE framework, we have developed a new open-source FEM application, Kraken, which is capable of simulating the multiphysics, such as mechanical deformation, fluid mechanics, heat transfer, etc., encountered in soft robots. The primary contributions of this work are capabilities to simulate nonlinear hyperelastic material models, simulation of the dynamics of soft actuators, and the ability to solve complex contact mechanics problems that often emerge when simulating soft robots. In addition, we demonstrate the accuracy of our system by comparing theoretical, simulated, and experimental results.
Follow Us |
Engage
Become an APS Member |
My APS
Renew Membership |
Information for |
About APSThe American Physical Society (APS) is a non-profit membership organization working to advance the knowledge of physics. |
© 2024 American Physical Society
| All rights reserved | Terms of Use
| Contact Us
Headquarters
1 Physics Ellipse, College Park, MD 20740-3844
(301) 209-3200
Editorial Office
100 Motor Pkwy, Suite 110, Hauppauge, NY 11788
(631) 591-4000
Office of Public Affairs
529 14th St NW, Suite 1050, Washington, D.C. 20045-2001
(202) 662-8700