Sorotraj: Generate trajectories for soft robots
Sorotraj allows you to generate trajectory functions to control soft robots. Trajectories are defined in a simple, human-readable yaml file, and are designed for compatibillity with both Ctrl-P pressure controllers (for real-world soft robots) and SoMo simulations (for virtual soft robots).
Table of Contents
pip install sorotraj
Explore the Examples
If you find a problem or want something added to the library, open an issue on Github.
Sorotraj has enabled several published works:
Moritz A. Graule, Clark B Teeple, Thomas P McCarthy, Randall C St. Louis, Grace R Kim, and Robert J Wood. Somo: fast and accurate simulation of continuum robots in complex environments. In IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.
Clark B Teeple, Grace R Kim, Moritz A. Graule, and Robert J Wood. An active palm enhances dexterity for soft robotic in-hand manipulation. In IEEE International Conference on Robotics and Automation (ICRA), volume, 11790–11796. 2021. doi:10.1109/ICRA48506.2021.9562049.
Clark B Teeple, Randall C. St. Louis, Moritz A. Graule, and Robert J Wood. The role of digit arrangement in soft robotic in-hand manipulation. In IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.