DisMech: A Discrete Differential Geometry-Based Physical Simulator for Soft Robots and Structures
DisMech: A Discrete Differential Geometry-Based Physical Simulator for Soft Robots and Structures
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rigid environments and mechanisms only, or if they include flexible or soft structures, suffer significantly in one or more of these performance areas. To close …