Soft Robotics: A Numerical Evaluation of Model-Based PneuNet Simulation

This paper presents a control-oriented analysis of the dynamics of a PneuNet actuator model developed in the SoRoSim toolbox. The aim is to demonstrate the potential use of simulation results in determining a simpler model based on mechanical considerations and model identification techniques. It proves the utility of SoRoSim as an intermediary medium between the mechanical perspective of the pneumatic actuators and the easy-to-follow mathematical model necessary in the control domain. The motion is generated using various input force functions, while a comparison evaluation is illustrated in a graphical representation. The effectiveness of the proposed method increases the benefits of soft robots in various applications, as their mathematical model is much easier to handle.