Bridging Computational Disciplines for Motion Generation in Soft Robotics and Deformable Systems 

Soft robotics is an emerging field inspired by biological systems that are inherently compliant and adaptable. Unlike traditional rigid robots, soft robots are made of deformable materials, offering unique advantages such as safety in human interaction, adaptability to unstructured environments, and the ability to conform to complex shapes. These properties make them well-suited for delicate manipulation, medical applications, wearable devices, and navigating confined spaces. Soft robotics not only enables new possibilities but also complements rigid robots by providing a safer and more adaptable approach in scenarios requiring physical interaction with uncertain environments.

Motion planning is a critical aspect of robotics that enables robots to determine the optimal trajectory to accomplish a given task. For rigid robots, advanced modeling and fast algorithms help achieve impressive tasks with high precision and efficiency, contributing to trajectory optimization and model predictive control (MPC). These techniques have allowed rigid robots to autonomously perform tasks in dynamic environments, from assembly lines to autonomous vehicles.

However, translating these capabilities to soft robots presents significant challenges. Soft robots theoretically possess infinite degrees of freedom (DoF), making their modeling inherently complex. Several approaches to modeling soft robots include finite element methods, material point methods, position-based dynamics, rod models, and lumped mass models. These techniques are used by robotics researchers and the computer graphics community to simulate deformable objects. Despite these advancements, implementing motion planning in soft robotics remains challenging and requires collaborative discussions across multidisciplinary communities.

To address this, we propose a workshop to bring together experts from diverse fields, including soft robotics, rigid robotics, and computer graphics, to share ideas and tools, fostering innovation in soft robotics. We aim to establish a platform for interdisciplinary exchange to advance motion planning techniques for soft robots. We bring together experts from academia and industry to identify key challenges and potential solutions for motion planning in soft robots, hybrid soft-rigid robots, and multibody systems with deformable structures. The applications of these advancements are vast, ranging from healthcare to industrial automation, wearable devices, and space exploration.

The workshop aims to answer questions such as:

• How can existing motion planning techniques from rigid robotics be adapted for soft robots?

• What are the limitations of current modeling and simulation tools for soft robotics?

• How can we achieve efficient and accurate modeling of soft robots for real-time applications like control and trajectory optimization?

• What can we learn from the computer graphics community to advance the modeling of soft robots?

• What are the practical challenges and solutions for deploying soft robotic systems in real-world applications?