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Real-world specimens
Data acquisition process
FlexFoam V Estimating parameters for a cylindrical flexible polyurethane foam specimen. Green curve shows target trajectory of the tip recorded through motion capture.
Same specimen, different motion. Second harmonic mode. Parameters from previous example are almost indistinguishable from parameters optimized for this motion.
3D printed TPU structure Approximating a complex structure with a very course mesh.
3D printed silicone hand
FlexFoam III & V, motion 1 Single boundary clamp Soft and stiff regions are not captured well in the simulation.
FlexFoam III & V, motion 2 Adding another boundary clamp. Parameter distribution is much more realistic.
X-walker Example application for soft robot control.
Motion applied to the actual robot (feed-forward).