I have started my research on Soft Robotics. Due to nature of soft robots, developing a real-time stable numerical method to model them has been challenging to roboticists. Cosserat Rod Model has shown to be efficient in simulating the dynamics of soft filaments that can bend, twist, stretch and shear while interacting with complex environments. However, solving this model for small scale robots in previous researches has faced some numerical instabilities. We are making our attempt to develop a real-time robust numerical solver for Cosserat Model.
The developed model is expected to be used to simulate a Magnetically Controlled Catheter. Due to less required computational cost and high accuracy, we would design a reliable controller based on Artificial Intelligence.

Project members: Seyedeh Zahra Mohammadi