用离散微分几何建模软体机器人，精准模拟多运动形态。
Harnessing Discrete Differential Geometry: A Virtual Playground for the Bilayer Soft Robotics
- 基于离散弹性杆模型，融合离散微分几何提升仿真精度。
- 相比有限元法，接触交互处理更稳定，收敛性更好。
- 可模拟抓取、爬行、跳跃、游泳等复杂动态行为，适合设计者使用。
软体机器人因其在多个领域的应用潜力而备受关注。其典型双层结构中，因各层膨胀差异导致应变不匹配，从而引发复杂形变。尽管理论建模与数值仿真取得进展，但在环境交互下精确捕捉动态行为仍具挑战。本研究提出一种基于离散弹性杆（DER）模型的新型仿真环境，利用离散微分几何（DDG）技术，在处理接触交互方面显著优于传统有限元法（FEM），尤其在动态响应收敛性上表现更优。该框架整合了双层结构的拉伸、弯曲、扭转及层间耦合特性，可实现对抓取、爬行、跳跃、游泳等多种动态行为的探索。研究成果为先进双层软体机器人的设计与控制提供了坚实基础。
原文摘要 · Abstract (English)
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers induces complex deformations. Despite progress in theoretical modeling and numerical simulation, accurately capturing their dynamic behavior, especially during environmental interactions, remains challenging. This study presents a novel simulation environment based on the Discrete Elastic Rod (DER) model to address the challenge. By leveraging discrete differential geometry (DDG), the DER approach offers superior convergence compared to conventional methods like Finite Element Method (FEM), particularly in handling contact interactions -- an essential aspect of soft robot dynamics in real-world scenarios. Our simulation framework incorporates key features of bilayer structures, including stretching, bending, twisting, and inter-layer coupling. This enables the exploration of a wide range of dynamic behaviors for bilayer soft robots, such as gripping, crawling, jumping, and swimming. The insights gained from this work provide a robust foundation for the design and control of advanced bilayer soft robotic systems.
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