Abstract
We show how a variety of techniques from Computer Graphics can be leveraged to intuitively control the shape (configuration) of arbitrary 3D Soft Robots in VR. Our pipeline, Virtual Reality Soft Robot Inverse Kinematics (VR-Soft IK), overcomes fundamental limitations of general-purpose drag-and-drop soft robot control interfaces by leaving the 2D computer screen for 3D Virtual Reality (VR). VR-Soft IK uses a simulation based on the Finite Element Method (FEM) and a control method based on sensitivity analysis. Additionally, we show that our general control pipeline can be fused with techniques from 3D character animation to skin our simulation with a high-resolution surface mesh, pointing a way toward Mixed Reality Soft Robots. This full Skinned VR-Soft IK pipeline uses skeletal animation and GPU picking. We demonstrate the utility of our pipeline by doing real-time, open-loop control of the real-world 3D soft robotic arm Helix.
Original language | English |
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Title of host publication | Proceedins of the IEEE International Conference on Robotics and Automation, ICRA 2024 |
Publisher | IEEE |
Pages | 14957-14963 |
Number of pages | 7 |
ISBN (Electronic) | 979-8-3503-8457-4 |
DOIs | |
Publication status | Published - 2024 |
Event | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duration: 13 May 2024 → 17 May 2024 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 |
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Country/Territory | Japan |
City | Yokohama |
Period | 13/05/24 → 17/05/24 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.