Resource-List-of-Soft-Robotics

Simulation Env

1. Cossrot Rod Theory

(a) PyElastica(UIUC): https://www.cosseratrods.org/

(b) SoRoSim(Renda):

• paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9895355
• code: https://www.mathworks.com/matlabcentral/fileexchange/83038-sorosim

2. SOFA

• paper: https://www.liebertpub.com/doi/10.1089/soro.2021.0123
• code: https://github.com/SofaDefrost/SofaGym

3. SoMo

• code: https://github.com/GrauleM/somogym?tab=readme-ov-file

4. Sorotoki

• code: https://github.com/BJCaasenbrood/SorotokiCode

5. DiffPD

• website: http://diffpd.csail.mit.edu/

6. SoRoForge

• End-to-End Soft Actuator Design
• website: https://soroforge.com/
• paper: https://ieeexplore.ieee.org/document/10041018

Tendon-driven Continuum Robots

1. Modeling and implement

a) code: https://github.com/JohnDTill/ContinuumRobotExamples

2. Visualization Toolkit

a) CRVisToolkit：

• blog: https://www.cs.toronto.edu/~jbk/opencontinuumrobotics/hands-on/2023/01/24/openCRVis.html
• code: https://github.com/ContinuumRoboticsLab/CRVisToolkit

Soft Pneumatic Manipulator

1. Discrete Cosserat Method

• paper: https://arxiv.org/abs/1702.03660
• code: https://github.com/tarquasso/Discrete_Cosserat_CB

2. Control-Oriented Model

• paper: SoftRobotics2022
• code: https://github.com/BJCaasenbrood/soft-robot-model-MATLAB

Piston-Driven Pneumatically-Actuated Soft Robots

• paper: LCSS2021
• code: https://github.com/tud-cor-sr/pcc-pneumatic-piston-backstepping

(Updated on 05/31/2024)