A genetic algorithm over Voronoi-encoded cross-sections, paired with a geometrically exact beam model, finds soft pneumatic actuator designs whose simulated end-effector workspaces approximate target workspaces in three case studies.
Design and Control of Soft Robots Using Dif- ferentiable Simulation
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Cross-sectional Topology Optimization of Slender Soft Pneumatic Actuators using Genetic Algorithms and Geometrically Exact Beam Models
A genetic algorithm over Voronoi-encoded cross-sections, paired with a geometrically exact beam model, finds soft pneumatic actuator designs whose simulated end-effector workspaces approximate target workspaces in three case studies.