Soft Robot Solver Project
MaL PhySiCS: Machine-Learning Assisted Physics-based Simulation and Control of Soft Robots
We use the Discrete Shells [original paper by Grinspun et al.] method for simulation of flexible plates and shells.
The source code for Discrete Shells algorithm is available on Github:
This is a work in progress. The repository is maintained by Jingyu Chen, a graduate student in our lab.
Soft Robot Simulation
Our recent work includes simulation of soft robots. See the above video for comparison between simulations and experiments. The experiments were performed at Soft Machines Lab (Carnegie Mellon University).
We have not yet released the source code for soft robot simulation. However, we plan to make the solver open-source soon.
Our recent work includes simulation of bacteria and bio-inspired robots. We demonstrate how buckling in bacterial tails can be used to change the swimming direction.
We have not yet released the source code for simulation of fluid-structure interaction and bio-inspired robots. However, we plan to make the solver open-source soon.