SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, however, do not support the differentiable, GPU-parallel, and control-oriented workflows that underpin advanced rigid-robotics applications. H...
Maximilian Stölzle, Solange Gribonval, D. Feliú-Talegon et al.
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