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Differentiable Flexible Mechanical Metamaterials

Learning in infinite dimension with neural operators.

A kinetostatics modeling framework for contaci-aided compliant mechanism (CACM). The article is available on https://ieeexplore.ieee.org/document/10531684, named "A Novel Contact-aided Continuum Ro…

Python Dynamic Mode Decomposition

Jelly library

Python implementation of Elastica, an open-source software for the simulation of assemblies of slender, one-dimensional structures using Cosserat Rod theory.

SoRoSim: A Unified Framework for Soft Robotics Modelling

This is a set of MATLAB and Python functions for visualization and plotting of continuum robots.

edition 2 of the slambook

C++ code to obtain measurements from the FBGS system

This code is associated to the paper Tummers et al., “Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives,” IEEE T-RO. (DOI 10.1109/TRO.2023.3238171) to model tendo…

Distance-geometric Inverse Kinematics for Continuum Robots

Constrained optimization framework for inverse kirigami design

A library for solving inverse kinematics with graphical models and distance geometry.

An incremental guide to continuum robot mathematical modeling and numerical implementation. The examples are divided into chapters within the folder structure, and each chapter contains a PDF and c…

Learning nonlinear operators via DeepONet

Source codes for the book "Reinforcement Learning: Theory and Python Implementation"

Notes on Computer Graphics

Screw Theory for Robotics; Coserrat's theory; Soft Robotics; Paden-Kahan Subproblems et cetera.

A brief introduction to the quaternions and its applications in 3D geometry.