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Generalized Task-Driven Design of Soft Robots via Reduced-Order FEM-based Surrogate Modeling
Description
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a fundamental trade-off between physical fidelity and computational efficiency, which limits model reuse across design and task variations and constrains scalable task-driven optimization. This paper presents a unified reduced-order finite element method (FEM)-bas