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dc.contributor.author
Gravert, Stephan-Daniel
dc.contributor.author
Michelis, Mike Y.
dc.contributor.author
Rogler, Simon
dc.contributor.author
Tscholl, Dario
dc.contributor.author
Buchner, Thomas
dc.contributor.author
Katzschmann, Robert K.
dc.date.accessioned
2023-03-15T08:36:53Z
dc.date.available
2022-11-08T15:57:40Z
dc.date.available
2022-11-16T14:57:24Z
dc.date.available
2022-11-16T14:57:45Z
dc.date.available
2023-03-15T08:36:53Z
dc.date.issued
2022
dc.identifier.isbn
978-1-6654-7927-1
en_US
dc.identifier.isbn
978-1-6654-7928-8
en_US
dc.identifier.other
10.1109/IROS47612.2022.9981192
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/580074
dc.description.abstract
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are vastly inferior to evolved biological swimmers, especially in terms of controllability, efficiency, maneuverability, and longevity. Additionally, the tedious iterative fabrication and empirical testing required to design soft robots has hindered their optimization. In this work, we tackle this challenge by providing an efficient and straightforward pipeline for designing and fabricating soft robotic swimmers equipped with electrostatic actuation. We streamline the process to allow for rapid additive manufacturing, and show how a differentiable simulation can be used to match a simplified model to the real deformation of a robotic swimmer. We perform several experiments with the fabricated swimmer by varying the voltage and actuation frequency of the swimmer's antagonistic muscles. We show how the voltage and frequency vary the locomotion speed of the swimmer while moving in liquid oil and observe a clear optimum in forward swimming speed. The differentiable simulation model we propose has various downstream applications, such as control and shape optimization of the swimmer; optimization results can be directly mapped back to the real robot through our sim-to-real matching.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.subject
Deformable models
en_US
dc.subject
Shape
en_US
dc.subject
Oils
en_US
dc.subject
Pipelines
en_US
dc.subject
Soft robotics
en_US
dc.subject
Three-dimensional printing
en_US
dc.subject
Optimization
en_US
dc.title
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
en_US
dc.type
Conference Paper
dc.type
Conference Paper
ethz.book.title
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
en_US
ethz.pages.start
9417
en_US
ethz.pages.end
9423
en_US
ethz.event
35th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
en_US
ethz.event.location
Kyoto, Japan
en_US
ethz.event.date
October 23-27, 2022
en_US
ethz.identifier.wos
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09689 - Katzschmann, Robert / Katzschmann, Robert
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02219 - ETH AI Center / ETH AI Center
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09689 - Katzschmann, Robert / Katzschmann, Robert
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00003 - Schulleitung und Dienste::00022 - Bereich VP Forschung / Domain VP Research::02205 - FIRST-Lab / FIRST Center for Micro- and Nanoscience
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09689 - Katzschmann, Robert / Katzschmann, Robert
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09689 - Katzschmann, Robert / Katzschmann, Robert
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00003 - Schulleitung und Dienste::00022 - Bereich VP Forschung / Domain VP Research::02205 - FIRST-Lab / FIRST Center for Micro- and Nanoscience
ethz.identifier.orcidWorkCode
120778594
ethz.date.deposited
2022-11-08T15:57:41Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2023-03-15T08:36:54Z
ethz.rosetta.lastUpdated
2024-02-02T21:00:56Z
ethz.rosetta.versionExported
true
ethz.COinS
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