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Toward Shape Optimization of Soft Robots

Thomas Morzadec 1 Damien Marchal 2, 1 Christian Duriez 1
1 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper we present our work on shape optimization for soft robotics where the shape is optimized for a given soft robot usage. To obtain a parametric optimization with a reduced number of parameters, we rely on an approach where the designer progressively refines the parameter space and the fitness function until a satisfactory design is obtained. In our approach, we automatically generate FEM simulations of the soft robot and its environment to evaluate a fitness function while checking the consistency of the solution. Finally, we have coupled our framework to an evolutionary optimization algorithm, and demonstrated its use for optimizing the design of a deformable leg of a locomotive robot.
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Contributor : Damien Marchal <>
Submitted on : Monday, April 27, 2020 - 10:43:42 AM
Last modification on : Tuesday, April 28, 2020 - 1:40:53 AM


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  • HAL Id : hal-02078776, version 2


Thomas Morzadec, Damien Marchal, Christian Duriez. Toward Shape Optimization of Soft Robots. RoboSoft 2019 - IEEE International Conference on Soft Robotics, Apr 2019, Séoul, South Korea. ⟨hal-02078776v2⟩



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