Finite Element Procedures

Nonlinear FEA for soft robots

Contact interaction plays a major role in implementing physical phenomenon in countless fields requiring a very precise solution. In particular, soft robots which produce various motion using the flexibility of continuous structure have more complicate contact interaction. Therefore, if such a mechanical system is interpreted as a full 3D model, it requires a lot of computational cost due to its high nonlinearity and complex geometry. Beam to beam contact is good simulation model to overcome this limitation and achieve real-time analysis.

* Baek, Changyeob, Kyungho Yoon, and Do-Nyun Kim. "Finite element modeling of concentric-tube continuum robots." Structural Engineering and Mechanics (2016).
* Dae-Young Lee, Jongwoo Kim, Ji-Suk Kim, Changyeob Baek, Gunwoo Noh, Do-Nyun Kim, Keri Kim, Sungchul Kang, Kyu-Jin Cho,  "Anisotropic patterning to reduce instability of concentric-tube robots." IEEE Transactions on Robotics (2015).