Soft Body Control Based on Discrete Elastic Rod Model

We present a control strategy for soft body manipulation based on the Discrete Elastic Rod (DER) model, a method designed to simulate soft rod or beam structures by accounting for twisting, bending, and stretching energy. By leveraging the DER framework, we reverse the typical simulation process: instead of determining a new configuration based on known external forces, we start with a desired configuration to identify the necessary external forces. These forces are then applied to the current configuration, allowing the system to advance. We extend this approach to control soft structures under external magnetic fields by using a desired trajectory to determine the corresponding magnetic forces. Our results demonstrate the effectiveness of this method, opening new avenues for precise soft body control, with potential applications in soft robotics and flexible systems.