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Sorotoki is an open-source MATLAB toolkit for soft robotics that includes an array of tools for design, modeling, and control. Due to its scientific diversity, it can be challenging for new researchers to quickly familiarize themselves with multiple scientific areas. With the aim to lower this threshold, Sorotoki aims to incorporate multiple layers of soft robotics research into one compact toolkit. Examples include: continuum mechanics, dynamic systems and control theory, topology optimization, computer graphics, and much more to come! The combination provides a highly flexible programming environment and will hopefully aid the development of novel soft robotic research.

Download the latest stable version:

git clone --depth 1  https://github.com/BJCaasenbrood/SorotokiCode.git

Installation

Please visit Sorotoki for the installation intruction. If any future updates may occur, just simply run sorotoki.m, and the toolkit will automatically tell you which files are out-of-date.

Applications highlights

  • Implicit modeling with Signed Distance Functions (SDFs),
  • Finite element method (FEM) using hyper-elastic materials,
  • Topology optimization of (pressure-driven) soft robots,
  • Dynamical modeling through geometric theory,
  • (NEW!) Real-time control of soft robots via Raspi-interface,
  • Fast graphics rendering with responsive textures.

Citation

If you are planning on using Sorotoki in your (academic) work, please consider citing the toolkit

@misc{Caasenbrood2020,
  author = {Caasenbrood, Brandon},
  title = {Sorotoki - A Soft Robotics Toolkit for MATLAB},
  year = {2020},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/BJCaasenbrood/SorotokiCode}},
}