The existence of G-invariant constant mean curvature hypersurfaces

Wu, Zhang; Wang, Tongrui

doi:10.1007/s00526-022-02251-2

Cited by 2 publications

(1 citation statement)

References 23 publications

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“…Parallel to volumetric-based FEM or MPM soft robotic software, there also exists a branch of dynamic beam (or rod) models for soft robots. These beam model approaches for soft robots have long been a viable alternative to FEM-based models -examples include the Piecewise-Constant Curvature (PCC) model [24], [76], [77], the augmented PCC rigid-body model [36]- [38], and various non-constant curvature descriptions [36], [78]- [80]. As the formulations of these models are often synonymous to rigid robot models, they have a rich basis of control-oriented research [43], [77], [81], [82].…”

Section: Related Workmentioning

confidence: 99%

Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots

Caasenbrood,

Pogromsky,

Nijmeijer

2024

IEEE Access

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In this paper, we present Sorotoki, an open-source toolkit in MATLAB that offers a comprehensive suite of tools for the design, modeling, and control of soft robots. The complexity involved in researching and building soft robots often stems from the interconnectedness of design and control aspects, which are rarely addressed together as a unified problem. To address the complex interdependencies in soft robotics, the Sorotoki toolkit provides a comprehensive and modular programming environment composed of seven Object-Oriented classes. These classes are designed to work together to solve a wide range of soft robotic problems, offering versatility and flexibility for its users. We provide a comprehensive overview of the Sorotoki software architecture to highlight its usage and applications. The details and interconnections of each module are thoroughly described, collectively explaining how to gradually introduce modeling complexity for various soft robotic scenarios. The effectiveness of Sorotoki is also demonstrated through a range of case studies, including novel problem scenarios and established works widely recognized in the soft robotics community. These case studies cover a broad range of research problems, including: inverse design of soft actuators, passive and active soft locomotion, object manipulation with soft grippers, meta-materials, model reduction, model-based control of soft robots, and shape estimation. Additionally, the toolkit provides access to four open-hardware soft robotic systems that can be fabricated using commercially available 3D printers. For more information about Sorotoki, readers are encouraged to visit: https://bjcaasenbrood.github.io/SorotokiCode/ INDEX TERMS Soft robotics, software, design, modeling, control, matlab

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