Paper is avaliable on IEEE Xplore: Link
Please Cite:
J. Davy, P. Lloyd, J. H. Chandler and P. Valdastri, "A Framework for Simulation of Magnetic Soft Robots using the Material Point Method," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2023.3268016.
Magnetic soft robots are formed of silicone polymers embedded with magnetic elements. Due to the use of external magnetic fields The relationship between magnetic soft materials and external sources of magnetic fields present significant complexities in modelling due to the relationship between material elasticity and magnetic wrench (forces and torques)
We aim to contribute an easy to use simulator for magnetic soft robots capable of modelling dynamic behaviour using the Material Point Method.
magneticMPM is built with the Taichi programming language. Install instructions at bottom of README.
magneticMPM has been tested with Python 3.8 and Taichi 1.5.0. Anaconda is highly recommended.
Create Environment
conda create --name py38 python=3.8
conda activate py38
Install Dependencies
pip install taichi==1.5.0 numpy trimesh pyyaml matplotlib rtree
Optional
pip install pyembtree
Run
python beam_bending\main.py
python runGripper.py
python runTentacle.py
python runSmallScaleBot.py