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 MATLAB Toolbox for Hybrid Soft-Rigid Robots

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 (RSS) 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.

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

No description provided.

An implementation of using rl to control magnetic soft robots.

Simulation framework for electroactive robotic sheet

Course on computational design, non-linear optimization, and dynamics of soft systems at UIUC.

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

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.

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

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.

No description provided.

Hardware and control for Flexipod

This repository presents OpenFish-Edu, a simplified version of OpenFish(https://osf.io/gsnc2/), used for educational purposes. The repo contains necessary design and fabrication files for building the OpenFish-Edu. This is first used by HKUST ISDN2400 Physical Prototyping course.

This is the official repository for the GECCO (Genetic and Evolutionary Computation Conference, 2022) paper "A Comparative Analysis on Genome Pleiotropy for Evolved Soft Robots". This repository hosts all the code necessary to replicate the experiments. This work was carried out at Ghent University IDLab-AIRO.

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

This is the official repository for the ACM TELO paper "Factors impacting diversity and effectiveness of evolved modular robots"

This is the official repository for the ALIFE paper "Shape Change and Control of Pressure-based Soft Agents" and its Artificial Life journal extension "Pressure-based Soft Agents".

Simulation platform used in "Artificial Life" (CS302) at Northwestern University

This repository hosts the code used in the paper "Collective control of modular soft robots via embodied Spiking Neural Cellular Automata"

Comprehensive README for Origaker autonomous quadruped robot featuring bio-inspired CPG locomotion, deep RL, adaptive morphology, SLAM perception and 12-stage development methodology with complete center-aligned formatting and rich media integration.