sorotokicode
SOROTOKI is an open-source MATLAB package that includes an array of tools for design, modeling, and control of soft robotic systems 🐙 🤖
Science Score: 57.0%
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✓codemeta.json file
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✓DOI references
Found 1 DOI reference(s) in README -
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○Scientific vocabulary similarity
Low similarity (14.1%) to scientific vocabulary
Keywords
Repository
SOROTOKI is an open-source MATLAB package that includes an array of tools for design, modeling, and control of soft robotic systems 🐙 🤖
Basic Info
- Host: GitHub
- Owner: BJCaasenbrood
- License: mit
- Language: MATLAB
- Default Branch: master
- Homepage: https://bjcaasenbrood.github.io/SorotokiCode
- Size: 614 MB
Statistics
- Stars: 58
- Watchers: 1
- Forks: 7
- Open Issues: 2
- Releases: 5
Topics
Metadata Files
README.md
Sorotoki is an open-source MATLAB toolkit for soft robotics that includes an array of tools for design, modeling, and control. Due to its scientific diversity, it can be challenging for new researchers to quickly familiarize themselves with multiple scientific areas. With the aim to lower this threshold, Sorotoki aims to incorporate multiple layers of soft robotics research into one compact toolkit. Examples include: continuum mechanics, dynamic systems and control theory, topology optimization, computer graphics, and much more to come! The combination provides a highly flexible programming environment and will hopefully aid the development of novel soft robotic research.
Installation via Matlab Package Installer (MPI)
The toolkit is easy to install using the Matlab Package Installer (mpi). Please follow the Installation Guide.
Applications highlights
- [x] Sdf - Implicit modeling with Signed Distance Functions (SDFs),
- [x] Fem - Finite element method (FEM) using hyper-elastic materials,
- [x] Topo - Topology optimization of (pressure-driven) soft robots,
- [x] Model - Dynamical modeling through geometric theory,
- [x] Control - Real-time control of soft robots via Raspi-interface,
- [x] GModel - Fast graphics rendering with responsive textures.
What can it do?
Citation
If you are planning on using Sorotoki in your (academic) work, please consider citing the toolkit
bibtex
@article{Caasenbrood2024,
author = {Caasenbrood, Brandon J. and Pogromsky, Alexander Y. and Nijmeijer, Henk},
title = {{Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots}},
journal = {IEEE Access},
volume = {12},
pages = {17604--17638},
year = {2024},
publisher = {IEEE},
doi = {10.1109/ACCESS.2024.3357351}
}
Citation (CITATION.cff)
# This CITATION.cff file was generated with cffinit.
# Visit https://bit.ly/cffinit to generate yours today!
cff-version: 1.2.0
message: >-
If you use this software, please cite it using the
metadata from this file.
preferred-citation:
type: article
authors:
- given-names: Brandon
family-names: Caasenbrood
email: b.j.caasenbrood@gmail.com
affiliation: Eindhoven University of Technology
orcid: 'https://orcid.org/0000-0002-6299-1730'
- given-names: 'Henk '
family-names: Nijmeijer
email: h.nijmeijer@tue.nl
affiliation: Eindhoven University of Technology
- given-names: Alexander
family-names: Pogromsky
email: a.porgromski@tue.nl
affiliation: Eindhoven University of Technology
doi: "10.1109/ACCESS.2024.3357351"
journal: "IEEE Access"
title: "Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots"
volume: 12
start: 17604
end: 17638
year: 2024
repository-code: 'https://github.com/BJCaasenbrood/SorotokiCode'
url: 'https://bjcaasenbrood.github.io/SorotokiCode'
abstract: >-
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 such 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 here 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 online 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
keywords:
- soft robotics
- software
- design
- modeling
- control
- matlab
license: MIT
GitHub Events
Total
- Issues event: 2
- Watch event: 12
- Issue comment event: 1
Last Year
- Issues event: 2
- Watch event: 12
- Issue comment event: 1
Dependencies
- ImageProcessingToolbox *
- MATLABCoder *
- OptimizationToolbox *
- StatisticsandMachineLearningToolbox *
- distance2curve *
- inpolyhedron *
- interparc *
- matlabessentialskit *
- matlabgraphicalmodel *
- sorotokifem *
- sorotokimesh *
- sorotokimodel *
- sorotokisdf *
- actions/checkout v3 composite
- matlab-actions/run-command v1 composite
- matlab-actions/setup-matlab v1 composite