Shape-Space Graphs: Fast and Collision-Free Path Planning for Soft Robots
Carina Veil, Moritz Flaschel, Ellen Kuhl · arXiv · 2025
This research presents a novel graph-based path planning tool for soft robots that enhances motion planning in cluttered environments.
Plain English summary
Why this matters
Key findings
- Developed a graph-based path planning tool for soft robots.
- Utilized a biomechanical model integrating morphoelastic and active filament theories.
- Precomputed a shape library for valid robot shapes.
- Implemented collision avoidance using signed distance functions.
- Demonstrated energy-aware planning that reduces actuation effort.
What's new
The introduction of a shape-space graph search method for fast and reliable path planning in soft robotics.
Limitations
The abstract does not provide details on the practical implementation or testing of the proposed method in real-world scenarios.
Commercial context
The research is still in the simulation phase and has not yet been demonstrated in practical applications.
Publication
- Publisher
- arXiv
- Publication date
- October 3, 2025
- Research type
- Preprint
- arXiv
- 2510.03547
- Access
- open
Tags
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