Presentation

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Soft Pneumatic Actuator Design Using Differentiable Simulation

SessionCharacter Animation: 2D, 3D, Robot

DescriptionWe propose a computational design pipeline for pneumatically actuated soft robots interacting with their environment through contact. Our approach optimizes the shape of the robot using a shape optimization approach based on a physically accurate high-order finite element model for forward simulation.

Authors

Arvi Gjoka

New York University/ Courant

Espen Knoop

Disney Research