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Soft robots can safely interact with environments because of their mechanicalcompliance. Self-collision is also employed in the modern design of soft robotsto enhance their performance during different tasks. However, developing anefficient and reliable simulator that can handle the collision response well,is still a challenging task in the research of soft robotics. This paperpresents a collision-aware simulator based on geometric optimization, in whichwe develop a highly efficient and realistic collision checking / response modelincorporating a hyperelastic material property. Both actuated deformation andcollision response for soft robots are formulated as geometry-based objectives.The collision-free body of a soft robot can be obtained by minimizing thegeometry-based objective function. Unlike the FEA-based physical simulation,the proposed pipeline performs a much lower computational cost. Moreover,adaptive remeshing is applied to achieve the improvement of the convergencewhen dealing with soft robots that have large volume variations. Experimentaltests are conducted on different soft robots to verify the performance of ourapproach.

Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing