jsrm 0.0.6

Kinematic and dynamic models of continuum and articulated soft robots.

JAX Soft Robot Modelling

This repository contains symbolic derivations of the kinematics and dynamics of various soft robots using Sympy. The symbolic expressions are then implemented in JAX used for fast, parallelizable, and differentiable simulations. So far, we have focused on planar settings and implemented the following soft robots:

• N-link pendulum
• Planar Piecewise Constant Strain (PCS) continuum soft robot
• Planar Handed Shearing Auxetics (HSA) robot

We are happy to receive contributions for other soft robots and/or other settings (e.g., 3D).

Citation

This simulator is part of the publication An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots presented at the 18th International Symposium on Experimental Robotics. You can find the publication online in the Springer Proceedings on Advanced Robotics (SPAR).

Please use the following citation if you use our software in your (scientific) work:

@inproceedings{stolzle2023experimental,
  title={An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots},
  author={St{\"o}lzle, Maximilian and Rus, Daniela and Della Santina, Cosimo},
  booktitle={Experimental Robotics: The 18th International Symposium},
  year={2023},
  organization={Springer}
}

Installation

The plugin can be installed from PyPI:

pip install jsrm

or locally from the source code:

pip install .

If you want to run the examples, you will also need to install the following dependencies:

pip install ".[examples]"

Usage

Always, first source all necessary environment variables when opening a new terminal:

source 01-configure-env-vars.sh

Then, we can symbolically derive the pendulum kinematics and dynamics

python examples/derive_pendulum.py

Finally, we can simulate the pendulum

python examples/simulate_pendulum.py