A large-scale benchmark for co-optimizing the design and control of soft robots, as seen in NeurIPS 2021.
[RA-L/ICRA2020] Real-time Soft Body 3D Proprioception via Deep Vision-based Sensing
Argenomic is a quality-diversity (or illumination) algorithm for optimization of small organic molecules.
Enabling Faster Training of Robust Reinforcement Learning Policies for Soft Robots
An implementation of using rl to control magnetic soft robots.
Simulation framework for electroactive robotic sheet
A rudimentary SOFA application that uses an open-source framework to target real-time robotics simulation, with an emphasis on medical schemas.
This is the official repository for the GECCO (Genetic and Evolutionary Computation Conference, 2022) paper "A Comparative Analysis on Genome Pleiotropy for Evolved Soft Robots". This repository hosts all the code necessary to replicate the experiments. This work was carried out at Ghent University IDLab-AIRO.
Code accompanying the publication "Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control" that received the Best Paper Award at the RoboSoft 2024.
This is the official repository for the ALIFE paper "Shape Change and Control of Pressure-based Soft Agents" and its Artificial Life journal extension "Pressure-based Soft Agents".
A SOFA environment is created for a tripedal soft legged robot model with Python scripts to be used for RL training along with system identification using PSO and GA algorithms for material parameters optimization.
Sim-to-real reinforcement learning applied to soft quadrupedal gait optimization.
Control Oriented Bending and Rotational Actuation Model
HeteroMorpheus: Universal Control Based on Morphological Heterogeneity Modeling
A plugin to PyElastica for the simulation of robots based on Handed Shearing Auxetics (HSAs).
Code for "Evolving Variable Stiffness Fiber Patterns for Multi-shape Robotic Sheets", Parsa et al., Robosoft 2023
This is the official repository for the GECCO paper "Morphology Choice Affects the Evolution of Affordance Detection in Robots".
Code and datasets corresponding to the paper "Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation" presented at RoboSoft 2023.
Implements the Selective Piecewise Constant Strain (SPCS) approach to model the kinematics of continuum soft robots.
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