SoRoSim

A unified simulation and analysis platform for soft, rigid and hybrid robotic systems.

https://github.com/SoRoSim

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2025/2/19
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@ARTICLE{9895355, author={Mathew, Anup Teejo and Hmida, Ikhlas Ben and Armanini, Costanza and Boyer, Frederic and Renda, Federico}, journal={IEEE Robotics & Automation Magazine}, title={SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach}, year={2023}, volume={30}, number={3}, pages={106-122}, keywords={Robots;Mathematical models;Strain;Soft robotics;Robot kinematics;Matlab;Analytical models}, doi={10.1109/MRA.2022.3202488}}

@article{mathew2025reduced, title={Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization}, author={Mathew, Anup Teejo and Feliu-Talegon, Daniel and Alkayas, Abdulaziz Y and Boyer, Frederic and Renda, Federico}, journal={The International Journal of Robotics Research}, volume={44}, number={1}, pages={129--154}, year={2025}, publisher={SAGE Publications Sage UK: London, England} }

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7.0.0

- Algorithms now use analytical derivatives of the governing equations.
- Discontinued Features:
Closed-chain redundancy is no longer checked.
Actuation force computation for cable-driven systems with always straight cables is temporarily removed.
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6.3.0

- Version number
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4.0.0

- Users can choose basis functions for strain computation
- Custom integration schemes, Point Forces, Plot functions for rigid links added.
- Twist class is revised into SorosimTwist with many new properties and features
-GUI improvement
-Bug Fixes
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3.3.1

- Added sources to toolbox description
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3.3.0

- Files added to Basic functions folder to optimize processing speed
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3.2.0

- Faster dynamic simulation
- Faster static equilibrium analysis
- MATLAB integrators such as, ode23, ode113, ode15s, ode23s, ode1, and ode2 incorporated.
- User can now choose a 2nd order Zannah collocation method for strain estimation
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3.1.0

- MATLAB Live Script files added for easier example demonstration
- Running using MATLAB online is enabled
- SoRoSim guide file added to the toolbox folder
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3.0.1

- Folder Organization
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3.0.0

- SoRoSim can now model closed-chain and branched robotic structures
- Scaling techniques added for better computational speed and convergence.
- Link and Linkage class file names changed to SoRoSimLink and SoRoSimLinkage.
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2.32.0

- Solving improvements to optimize simulation time
- Updated examples files
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2.31.0

- Adjustments to normalizing Linkages
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2.3.0

- Improved user interface
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2.2.0

Updated Examples
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2.1.0

- Computations of soft links are done after normalization for faster and more stable simulations.
- Large scale problems can now be simulated
- Graphical improvements
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2.0.0

- Toolbox can now handle variable strain problems.
- Graphical and computational improvements.
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1.0.0

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