A large-scale benchmark for co-optimizing the design and control of soft robots, as seen in NeurIPS 2021.
An incremental guide to continuum robot mathematical modeling and numerical implementation. The examples are divided into chapters within the folder structure, and each chapter contains a PDF and code examples.
This Sofa plugin contains components & method for soft robotics.
SoRoSim: A Unified Framework for Soft Robotics Modelling
SOROTOKI is an open-source MATLAB package that includes an array of tools for design, modeling, and control of soft robotic systems 🐙 🤖
DisMech: A discrete differential geometry-based physical simulator for soft robots and structures
[RA-L/ICRA2020] Real-time Soft Body 3D Proprioception via Deep Vision-based Sensing
Argenomic is a quality-diversity (or illumination) algorithm for optimization of small organic molecules.
Code for "Evolution and learning in differentiable robots", Strgar et al, proceedings of Robotics: Science and Systems 2024
An implementation of using rl to control magnetic soft robots.
Piston-Driven Pneumatically-Actuated Soft Robots: modeling and backstepping control
Enabling Faster Training of Robust Reinforcement Learning Policies for Soft Robots
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots
Course on computational design, non-linear optimization, and dynamics of soft systems at UIUC.
A rudimentary SOFA application that uses an open-source framework to target real-time robotics simulation, with an emphasis on medical schemas.
Simulation framework for electroactive robotic sheet
This repository includes the hardware design and application examples for a general physical platform for evaluating the performances of soft penumatic robots and implementing the control.
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