This repository contains ROS2 packages which are helpful for performing closed-loop control of (planar) HSA robots. This includes actuation drivers for the communication with the Dynamixel motors, inverse kinematics (planar), and real-time visualization of the robot's configuration.
This simulator is part of the publication An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots presented at the 18th International Symposium on Experimental Robotics. You can find the publication online in the Springer Proceedings on Advanced Robotics (SPAR): https://doi.org/10.1007/978-3-031-63596-0_14
Please use the following citation if you use our software in your (scientific) work:
@inproceedings{stolzle2023experimental,
title={An experimental study of model-based control for planar handed shearing auxetics robots},
author={St{\"o}lzle, Maximilian and Rus, Daniela and Della Santina, Cosimo},
booktitle={International Symposium on Experimental Robotics},
pages={153--167},
year={2023},
organization={Springer}
}