Survey of Simulators for Deformable Objects in Robotics
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12171Palabras clave:
Robótica, Modelado, Simulación, Control de estructuras flexibles, Materiales flexibles e inteligentesResumen
La simulación de objetos deformables sigue siendo un gran desafío en la robótica actual, yendo desde la necesidad de emular partes del cuerpo humano en cirugías autónomas, hasta el modelado de tareas de manipulación industrial. Esta breve revisión analiza los entornos de desarrollo actuales más usados para la simulación de deformaciones, mencionando y evaluando sus características más relevantes. En concreto se presentan y analizan ocho sistemas distintos, entre los que se encuentran NVIDIA Isaac Sim, MuJoCo y SOFA. Por otro lado, se describen en detalle tres librerías del entorno Unity mediante las cuales se pueden modelar objetos deformables. Esta guía ayudará a seleccionar las herramientas más adecuadas para sus respectivos proyectos.
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Derechos de autor 2025 Alberto Zafra-Navarro, Rosario Aragüés, Gonzalo López-Nicolás
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
