Towards end-to-end co-design for one-shot printable task-specific soft robots
Overview
This paper introduces a simulation-based framework for co-designing soft robotic arms that jointly optimizes morphology, pneumatic actuator placement, and control policies. The method uses a differentiable Material Point Method simulator with validated material models to generate designs suitable for monolithic fused deposition modelling (FDM) fabrication. Experiments demonstrate that the resulting one-shot printed arms successfully execute prescribed tip trajectories, validating the simulation-to-real transfer without manual assembly or post-processing.
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Environment: simulation
“arXiv:2611.03216v1 Announce Type: new Abstract: Soft robot co-design methods can jointly optimise morphology and control, but the resulting designs are often difficult to manufacture, while manufacturable approaches typically restrict actuator placement or require manual assembly. We present a simulation-based co-design framework that jointly optimises material distribution, pneumatic actuator placement and orientati”
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- arXiv Robotics — research abstractsSignalTowards end-to-end co-design for one-shot printable task-specific soft robots
This paper introduces a simulation-based framework for co-designing soft robotic arms that jointly optimizes morphology, pneumatic actuator placement, and control policies. The method uses a differentiable Material Point Method simulator with validated material models to generate designs suitable for monolithic fused deposition modelling (FDM) fabrication. Experiments demonstrate that the resulting one-shot printed arms successfully execute prescribed tip trajectories, validating the simulation-to-real transfer without manual assembly or post-processing.
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