SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments
Moritz A. Graule,Clark B. Teeple,Thomas P. McCarthy,Grace R. Kim,Randall C. St. Louis,Robert J. Wood,Moritz A. Graule,Clark B. Teeple,Thomas P. McCarthy,Grace R. Kim,Randall C. St. Louis,Robert J. Wood
Engineers and scientists often rely on their intuition and experience when designing soft robotic systems. The development of performant controllers and motion plans for these systems commonly requires time-consuming iterations on hardware. We present the SoMo (Soft Motion) toolkit, a software framework that makes it easy to instantiate and control typical continuum manipulators in an accurate phy...
