This repository is intended to provide an open-source reference for the code used in my master thesis on Soft robotics. The code in Optimal pose-stiffness finds the optimal stiffness and pose for the soft manipulators, while the folder Hardware control presents the low level motor and stiffness control for the hardware. The followig code has been developed in Matlab 2020b and C++. The matlab package "Gobal Optimization toolbox" is required.
In the following video some demos of the soft manipulator are presented:
Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.