We are glad to announce the open-source release of the SoftRobots.Inverse plugin!

This code implements a published and patented method (detailed in the associated paper Software toolkit for modeling, simulation and control of soft robots, [Coevoet et al. 2017a] proposing an online inversion of the robot model using an optimization-based algorithms. This inverse model allows to control the physical robots in the task space.

This plugin is now available in our plugin store.

Dr. Adagolodjo – Defrost Inria team ©Inria

Use it and build innovative control strategies taking into account the mechanical properties of your robot!