{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/124605"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/124605","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Multi-physics based simulation of hyper elastic soft robot motion with hydraulic actuation","abstract":"Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01","abstract_html":"Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01","abstract_has_math":false,"creators":["Luo, Kelsey"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Nuclear Plasma and Radiological Engineering","degree_department":null,"school":null,"contributors":["Zhang, Yang","Kozlowski, Tomasz"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2024,"date_issued":"2024-05","date_published":"2024-05","updated_at":"2026-07-22T22:25:02Z","subjects":["Soft Robotics","Physics-based Simulation","Moose"],"languages":["en","eng"],"rights":["Copyright 2024 Kelsey Luo"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/124605","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Zhang, Yang","Kozlowski, Tomasz"]},{"key":"dc:creator","label":"Author","values":["Luo, Kelsey"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2024-05","2024-05-02"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Nuclear Plasma and Radiological Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Soft Robotics","Physics-based Simulation","Moose"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2024 Kelsey Luo"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/124605"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01","The student, Kelsey Luo, accepted the attached license on 2024-05-01 at 16:54.","The student, Kelsey Luo, submitted this Thesis for approval on 2024-05-01 at 17:05.","This Thesis was approved for publication on 2024-05-02 at 11:20.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20744 on 2024-09-16 at 00:44:55","A robust method is needed to model and simulate the complex material properties of soft robots. The simplicity of traditional robot materials and actuation methods make them easy to model and simulate. However, this simplicity prevents traditional robot modeling and simulation software from extending their capabilities to the robust physics of soft robots. The goal of this project is to demonstrate the validity of utilizing the open-source Multi-physics Object Oriented Simulation Environment (MOOSE) based Kraken software to accurately model the physics and simulate the movement of a hydraulically actuated soft robotic arm. To achieve this goal, a 3-D CAD model of a soft robot is coupled with the MOOSE-based Kraken software to simulate expansion which is commonly used for reaching tasks. The intellectual merit of this thesis is the accurate modeling and simulation of the complex material properties and interactions between hyperelastic materials and hydraulic actuation. The MOOSE framework allows both accuracy and convergence control via direct user control of simulation parameters. The object- oriented nature of MOOSE allows for simulations to mix different physics properties depending on the nature of the simulation problem and build out additional modules which can prove useful to soft robotic applications. The Kraken simulation framework recently developed specific modules on top of MOOSE to allow for the simulation of different hyperelastic materials and contact mechanics. MOOSE-based Kraken opens the door for soft robotic simulations with various actuation methods, material properties, and task spaces. [1]–[3] The broader impact of this work includes validating MOOSE-based Kraken, an open-source method, to provide increased accessibility of information to the public where code and project improvements can be made by the community. Simulation results can be used as a proof of concept of soft robotic operating parameters before conducting expensive experimental tests. Simulation results can also serve as inputs to machine learning models for improving soft robotic control."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Multi-physics based simulation of hyper elastic soft robot motion with hydraulic actuation"]}]}],"canonical_facts":{"dc:contributor":["Zhang, Yang","Kozlowski, Tomasz"],"dc:creator":["Luo, Kelsey"],"dc:date":["2024-05","2024-05-02"],"dc:description":["Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01","The student, Kelsey Luo, accepted the attached license on 2024-05-01 at 16:54.","The student, Kelsey Luo, submitted this Thesis for approval on 2024-05-01 at 17:05.","This Thesis was approved for publication on 2024-05-02 at 11:20.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20744 on 2024-09-16 at 00:44:55","A robust method is needed to model and simulate the complex material properties of soft robots. The simplicity of traditional robot materials and actuation methods make them easy to model and simulate. However, this simplicity prevents traditional robot modeling and simulation software from extending their capabilities to the robust physics of soft robots. The goal of this project is to demonstrate the validity of utilizing the open-source Multi-physics Object Oriented Simulation Environment (MOOSE) based Kraken software to accurately model the physics and simulate the movement of a hydraulically actuated soft robotic arm. To achieve this goal, a 3-D CAD model of a soft robot is coupled with the MOOSE-based Kraken software to simulate expansion which is commonly used for reaching tasks. The intellectual merit of this thesis is the accurate modeling and simulation of the complex material properties and interactions between hyperelastic materials and hydraulic actuation. The MOOSE framework allows both accuracy and convergence control via direct user control of simulation parameters. The object- oriented nature of MOOSE allows for simulations to mix different physics properties depending on the nature of the simulation problem and build out additional modules which can prove useful to soft robotic applications. The Kraken simulation framework recently developed specific modules on top of MOOSE to allow for the simulation of different hyperelastic materials and contact mechanics. MOOSE-based Kraken opens the door for soft robotic simulations with various actuation methods, material properties, and task spaces. [1]–[3] The broader impact of this work includes validating MOOSE-based Kraken, an open-source method, to provide increased accessibility of information to the public where code and project improvements can be made by the community. Simulation results can be used as a proof of concept of soft robotic operating parameters before conducting expensive experimental tests. Simulation results can also serve as inputs to machine learning models for improving soft robotic control."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/124605"],"dc:language":["en","eng"],"dc:rights":["Copyright 2024 Kelsey Luo"],"dc:subject":["Soft Robotics","Physics-based Simulation","Moose"],"dc:title":["Multi-physics based simulation of hyper elastic soft robot motion with hydraulic actuation"],"dc:type":["text"],"thesis:degree_discipline":["Nuclear Plasma and Radiological Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:02Z"}