This SOFA package contains inverse method for soft robotics and have a strong dependency to the SoftRobots plugin. One of the central features is the use of inverse formulation to control the robots by their end-effector position letting the system compute the changes to apply on the inputs of the actuators. The modeling and algorithmic formulations are detailed in [Duriez et al. 2016] and [Coevoet et al. 2017a].
Read more on the soft robotics toolkit for SOFA online.
- Framework for online simulation of soft robots with optimization-based inverse model, [Duriez et al. 2016]
- Software toolkit for modeling, simulation and control of soft robots, [Coevoet et al. 2017a]
(soft and rigid)
- License: Private
- Purpose: Optimization / Numerical methods
- Status: Complete
- Progress: 100%
- TRL: 6