000069778 001__ 69778 000069778 005__ 20191212100703.0 000069778 0247_ $$2doi$$a10.1371/journal.pone.0192052 000069778 0248_ $$2sideral$$a104924 000069778 037__ $$aART-2018-104924 000069778 041__ $$aeng 000069778 100__ $$aChenevier, J. 000069778 245__ $$aReduced-order modeling of soft robots 000069778 260__ $$c2018 000069778 5060_ $$aAccess copy available to the general public$$fUnrestricted 000069778 5203_ $$aWe 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. 000069778 536__ $$9info:eu-repo/grantAgreement/ES/CICYT/DPI2014-51844-C2-1-R$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2015-72365-EXP 000069778 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/ 000069778 590__ $$a2.776$$b2018 000069778 591__ $$aMULTIDISCIPLINARY SCIENCES$$b23 / 69 = 0.333$$c2018$$dQ2$$eT2 000069778 592__ $$a1.1$$b2018 000069778 593__ $$aAgricultural and Biological Sciences (miscellaneous)$$c2018$$dQ1 000069778 593__ $$aMedicine (miscellaneous)$$c2018$$dQ1 000069778 593__ $$aBiochemistry, Genetics and Molecular Biology (miscellaneous)$$c2018$$dQ1 000069778 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000069778 700__ $$0(orcid)0000-0003-3003-5856$$aGonzalez, D.$$uUniversidad de Zaragoza 000069778 700__ $$aAguado, J.V. 000069778 700__ $$aChinesta, F. 000069778 700__ $$0(orcid)0000-0003-1017-4381$$aCueto, E.$$uUniversidad de Zaragoza 000069778 7102_ $$15004$$2605$$aUniversidad de Zaragoza$$bDpto. Ingeniería Mecánica$$cÁrea Mec.Med.Cont. y Teor.Est. 000069778 773__ $$g13, 2 (2018), e0192052[15 pp]$$pPLoS One$$tPloS one$$x1932-6203 000069778 8564_ $$s1309877$$uhttps://zaguan.unizar.es/record/69778/files/texto_completo.pdf$$yVersión publicada 000069778 8564_ $$s44307$$uhttps://zaguan.unizar.es/record/69778/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000069778 909CO $$ooai:zaguan.unizar.es:69778$$particulos$$pdriver 000069778 951__ $$a2019-12-12-10:05:35 000069778 980__ $$aARTICLE