A unified formulation which accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented, as described in
F. Renda, F. Giorgio-Serchi, F. Boyer, C. Laschi, J. Dias and L. Seneviratne "A Unified Multi-Soft-Body Dynamic Model for Underwater Soft Robots" The International Journal of Robotics Research, 37(6):648–666, 2018.
Insert your soft robot parameters in:
octopus_driver
and run it to simulate the dynamics. The differential equations are implemented in:
octopus_derivatives
The state vector and other definitions can be found in the paper above.
The author of the algorithm and MATLAB implementation is:
Federico Renda (federico.renda@kustar.ac.ae) Department of Mechanical Engineering, Khalifa University Robotics Institute, Khalifa University of Science and Technology, Abu Dhabi.