Framework for Armature-Based 3D Shape Reconstruction of Sensorized Soft Robots in eXtended Reality.

ABSTRACT: Soft robots are typically intended to operate in highly unpredictable and unstructured environments. Although their soft bodies help them to passively conform to their environment, the execution of specific tasks within such environments often requires the help of an operator that supervises the interaction between the robot and its environment and adjusts the actuation inputs in order to successfully execute the task. However, direct observation of the soft robot is often impeded by the environment in which it operates. Therefore, the operator has to depend on a real-time simulation of the soft robot based on the signals from proprioceptive sensors. However, the complicated three-dimensional (3D) configurations of the soft robot can be difficult to interpret using traditional visualizatio

SUBMITTER: Borges EIA 

PROVIDER: S-EPMC9096452 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature