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.

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

Code for "Evolution and learning in differentiable robots", Strgar et al, proceedings of Robotics: Science and Systems 2024

Argenomic is a quality-diversity (or illumination) algorithm for optimization of small organic molecules.

Enabling Faster Training of Robust Reinforcement Learning Policies for Soft Robots

A curated list of Soft Robotics resources, projects, courses, books, video lectures, papers, journals and articles.

An implementation of using rl to control magnetic soft robots.

Piston-Driven Pneumatically-Actuated Soft Robots: modeling and backstepping control

Simulation framework for electroactive robotic sheet

Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots

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.

Hardware and control for Flexipod

A rudimentary SOFA application that uses an open-source framework to target real-time robotics simulation, with an emphasis on medical schemas.

Code accompanying the publication "Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control" that received the Best Paper Award at the RoboSoft 2024.

Source code for "Evolution of Adaptive Force Chains in Reconfigurable Granular Metamaterials"