The SoftRobots plugin for SOFA: Components Library Documentation¶
The SoftRobots plugin contains SOFA components dedicated to soft robotics. You can find for example, models for cable and pneumatic actuations, tools to define trajectories for the robot’s end effector, or tools to communicate with microcontroller boards.
All these components are discribed in this documentation.
Contents of the library¶
||In our framework, we handle the actuation and contact by defining specific constraints with Lagrange multipliers on the boundary conditions of the deformable models.|
||A Controller is a component that can process events from the keyboard or the mouse, launched at the beginning and the end of a time step.|