布状アクチュエータ用シミュレータを用いた所望の布変形を実現する人工筋配向の検討

抄録

Fabric-Type Actuator, one of soft robot, is the cloth fixed by artificial muscle. The behavior had not been cleared because of its high degree of freedom. In the prior research, model has been considered using PBD physics simulator and machine learning compensator. Using the model, rough deformation of the actuator could be simulated. In this report, we considered muscle pattern which could deform target shape could be determined using the simulator.