A graphical abstract for Sorotoki: A soft robotics toolkit in MATLAB.
Abstract:
In this paper, we present Sorotoki, an open-source toolkit in MATLAB that offers a comprehensive suite of tools for the design, modeling, and control of soft robots. The ...Show MoreMetadata
Abstract:
In this paper, we present Sorotoki, an open-source toolkit in MATLAB that offers a comprehensive suite of tools for the design, modeling, and control of soft robots. The complexity involved in researching and building soft robots often stems from the interconnectedness of design and control aspects, which are rarely addressed together as a unified problem. To address such complex interdependencies in soft robotics, the Sorotoki toolkit provides a comprehensive and modular programming environment composed of seven Object-Oriented classes. These classes are designed to work together to solve a wide range of soft robotic problems, offering versatility and flexibility for its users. We provide here a comprehensive overview of the Sorotoki software architecture to highlight its usage and applications. The details and interconnections of each module are thoroughly described, collectively explaining how to gradually introduce modeling complexity for various soft robotic scenarios. The effectiveness of Sorotoki is also demonstrated through a range of case studies, including novel problem scenarios and established works widely recognized in the soft robotics community. These case studies cover a broad range of research problems, including: inverse design of soft actuators, passive and active soft locomotion, object manipulation with soft grippers, meta-materials, model reduction, model-based control of soft robots, and online shape estimation. Additionally, the toolkit provides access to four open-hardware soft robotic systems that can be fabricated using commercially available 3D printers. For more information about Sorotoki, readers are encouraged to visit: https://bjcaasenbrood.github.io/SorotokiCode/
A graphical abstract for Sorotoki: A soft robotics toolkit in MATLAB.
Published in: IEEE Access ( Volume: 12)
Funding Agency:
Department of Mechanical Engineering, Eindhoven University of Technology, Noord Brabant, Eindhoven, The Netherlands
Brandon J. Caasenbrood received the M.Sc. degree from the Eindhoven University of Technology (TU/e), in 2017, and the Ph.D. degree (cum laude), in 2024, under the supervision of Prof. Henk Nijmeijer and Dr. Alexander Pogromsky within the Dynamics and Control group. The project was embedded within the wearable robotics program, which is funded by the Dutch Research Council (NWO). During his Ph.D. studies, he also undertook...Show More
Brandon J. Caasenbrood received the M.Sc. degree from the Eindhoven University of Technology (TU/e), in 2017, and the Ph.D. degree (cum laude), in 2024, under the supervision of Prof. Henk Nijmeijer and Dr. Alexander Pogromsky within the Dynamics and Control group. The project was embedded within the wearable robotics program, which is funded by the Dutch Research Council (NWO). During his Ph.D. studies, he also undertook...View more
Department of Mechanical Engineering, Eindhoven University of Technology, Noord Brabant, Eindhoven, The Netherlands
Alexander Y. Pogromsky received the M.Sc. degree (Hons.) from Baltic State Technical University, Russia, in 1991, and the Ph.D. degree from Saint Petersburg Electrotechnical University, in 1994. From 1995 to 1997, he was with the Laboratory Control of Complex Systems, Institute for Problems of Mechanical Engineering, Saint Petersburg, Russia. From 1997 to 1998, he was a Research Fellow with the Department of Electrical En...Show More
Alexander Y. Pogromsky received the M.Sc. degree (Hons.) from Baltic State Technical University, Russia, in 1991, and the Ph.D. degree from Saint Petersburg Electrotechnical University, in 1994. From 1995 to 1997, he was with the Laboratory Control of Complex Systems, Institute for Problems of Mechanical Engineering, Saint Petersburg, Russia. From 1997 to 1998, he was a Research Fellow with the Department of Electrical En...View more
Department of Mechanical Engineering, Eindhoven University of Technology, Noord Brabant, Eindhoven, The Netherlands
Henk Nijmeijer (Life Fellow, IEEE) is currently an Emeritus Full Professor with the Eindhoven University of Technology (TU/e) and the Chair of the Dynamics and Control Group. His current Project is Extremum Seeking Control in Large-Scale Information Systems. He is also the Program Leader of TU/e Research Program “Integrated Cooperative Automated Vehicles” (i-CAVE). This focuses on development of autonomous vehicles that c...Show More
Henk Nijmeijer (Life Fellow, IEEE) is currently an Emeritus Full Professor with the Eindhoven University of Technology (TU/e) and the Chair of the Dynamics and Control Group. His current Project is Extremum Seeking Control in Large-Scale Information Systems. He is also the Program Leader of TU/e Research Program “Integrated Cooperative Automated Vehicles” (i-CAVE). This focuses on development of autonomous vehicles that c...View more
Contents Department of Mechanical Engineering, Eindhoven University of Technology, Noord Brabant, Eindhoven, The Netherlands
Brandon J. Caasenbrood received the M.Sc. degree from the Eindhoven University of Technology (TU/e), in 2017, and the Ph.D. degree (cum laude), in 2024, under the supervision of Prof. Henk Nijmeijer and Dr. Alexander Pogromsky within the Dynamics and Control group. The project was embedded within the wearable robotics program, which is funded by the Dutch Research Council (NWO). During his Ph.D. studies, he also undertook a role as a Junior Researcher and an Educator. His research interests include the area of soft robotics, with a particular emphasis on model-based control and design optimization of soft robotic systems.
Brandon J. Caasenbrood received the M.Sc. degree from the Eindhoven University of Technology (TU/e), in 2017, and the Ph.D. degree (cum laude), in 2024, under the supervision of Prof. Henk Nijmeijer and Dr. Alexander Pogromsky within the Dynamics and Control group. The project was embedded within the wearable robotics program, which is funded by the Dutch Research Council (NWO). During his Ph.D. studies, he also undertook a role as a Junior Researcher and an Educator. His research interests include the area of soft robotics, with a particular emphasis on model-based control and design optimization of soft robotic systems.View more
Department of Mechanical Engineering, Eindhoven University of Technology, Noord Brabant, Eindhoven, The Netherlands
Alexander Y. Pogromsky received the M.Sc. degree (Hons.) from Baltic State Technical University, Russia, in 1991, and the Ph.D. degree from Saint Petersburg Electrotechnical University, in 1994. From 1995 to 1997, he was with the Laboratory Control of Complex Systems, Institute for Problems of Mechanical Engineering, Saint Petersburg, Russia. From 1997 to 1998, he was a Research Fellow with the Department of Electrical Engineering, Division on Automatic Control, Linkoping University, Sweden. He has been a Visiting Researcher with the Department of Control Systems and Industrial Robotics, Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics.
Alexander Y. Pogromsky received the M.Sc. degree (Hons.) from Baltic State Technical University, Russia, in 1991, and the Ph.D. degree from Saint Petersburg Electrotechnical University, in 1994. From 1995 to 1997, he was with the Laboratory Control of Complex Systems, Institute for Problems of Mechanical Engineering, Saint Petersburg, Russia. From 1997 to 1998, he was a Research Fellow with the Department of Electrical Engineering, Division on Automatic Control, Linkoping University, Sweden. He has been a Visiting Researcher with the Department of Control Systems and Industrial Robotics, Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics.View more
Department of Mechanical Engineering, Eindhoven University of Technology, Noord Brabant, Eindhoven, The Netherlands
Henk Nijmeijer (Life Fellow, IEEE) is currently an Emeritus Full Professor with the Eindhoven University of Technology (TU/e) and the Chair of the Dynamics and Control Group. His current Project is Extremum Seeking Control in Large-Scale Information Systems. He is also the Program Leader of TU/e Research Program “Integrated Cooperative Automated Vehicles” (i-CAVE). This focuses on development of autonomous vehicles that can drive independently on non-public roads and drive together on public roads. His research interests include control systems engineering, mechanical engineering, and automotive engineering. His areas of expertise include (advanced) control theory and systems, robotics, mechatronics, (system) dynamics, and control systems engineering.
Henk Nijmeijer (Life Fellow, IEEE) is currently an Emeritus Full Professor with the Eindhoven University of Technology (TU/e) and the Chair of the Dynamics and Control Group. His current Project is Extremum Seeking Control in Large-Scale Information Systems. He is also the Program Leader of TU/e Research Program “Integrated Cooperative Automated Vehicles” (i-CAVE). This focuses on development of autonomous vehicles that can drive independently on non-public roads and drive together on public roads. His research interests include control systems engineering, mechanical engineering, and automotive engineering. His areas of expertise include (advanced) control theory and systems, robotics, mechatronics, (system) dynamics, and control systems engineering.View more